Control design issues for a microinvasive neurosurgery teleoperator system

This paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists in remotely inserting a linear-stage rigid endoscope into the patient's brain for microinvasive neurosurgery interventions. This work aims at evaluating the applicability of an existing general-purpose control architecture, addressing its advantages and drawbacks with respect to a simple task-oriented architecture, specifically designed for the target application. Preliminary experiments revealed that the task-oriented design can better fit the application requirements.