Nonlinear Soft Tissue Models and Force Control for Medical Cyber-Physical Systems

Robotic telesurgery application could greatly benefit from force control, providing safe and stable application even under time delays and other disturbing conditions. This paper describes a soft tissue model which can be integrated into the control loop of a teleoperational master -- slave robot. Three alternations of the Wiechert model have been implemented and matched against experimental data. A nonlinear model has been proposed to realistically model the properties of liver-type tissues. Based on the model, adequate force control can be designed in the future.