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Usually, force control algorithms developed for medical applications use a basic  elastic model to represent the interaction between the robot and soft tissue. It  is known that soft tissues are complex structures with viscoelastic properties  as well as nonheterogeneity and hysteresis behavior.  This work intends to improve the performance and the robustness of a force  control scheme using a more realistic interaction model. The proposed force  control is a model based algorithm using a Kelvin-Boltzmann viscoelastic model  as the interaction model

Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue Model