In robot-assisted medical procedures, the control of interactions between tools and tissues has recently raised much interest. In this chapter, we give an original perspective to this subject. In Sect. 11.1, we discuss the pros and cons of force feedback for medical applications. We also highlight some original works and point out open problems that would deserve more interest. Then, in Sects. 11.2 and 11.3, we focus on two of our recent contributions to the field of force feedback teleoperation for medical procedures: the automatic detection of haptic events and the compensation of physiological motions. In robot-assisted medical procedures, the control of interactions between tools and tissues has recently raised much interest. In this chapter, we give an original perspective to this subject. In Sect. 11.1, we discuss the pros and cons of force feedback for medical applications. We also highlight some original works and point out open problems that would deserve more interest. Then, in Sects. 11.2 and 11.3, we focus on two of our recent contributions to the field of force feedback teleoperation for medical procedures: the automatic detection of haptic events and the compensation of physiological motions. Keywords

In this paper a bilateral teleoperation scheme is proposed to compensate force perturbations due to repetitive motions of the environment. Based on a Repetitive-Generalized Predictive Controller (R-GPC), it allows to reject periodical disturbances as those generated by respiration motion under breathing apparatus while in contact with the environment. The proposed method is detailed and experimental results are presented for the first time, using a 1-DOF teleoperation testbed.

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