AbstractThis paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists of remotely inserting a linear-stage rigid endoscope into the patient's brain for microinvasive neurosurgery interventions. This work aims at evaluating advantages and drawbacks of using a general-purpose control architecture versus a simpler task-oriented architecture, from a point of view of stability and transparency. Experiments revealed that in spite of its simplicity, the task-oriented design allows an improvement in the trade-off between performance, transparency and stability requirements
