Implementing Force-Feedback in a Telesurgery Environment, Using Parameter Estimation

Thomas Hansen; Claus  Henningsen; Jens Nielsen; Rasmus Pedersen; John Schwensen; Senthuran Sivabalan; Jesper Abildgaard Larsen; John-Josef Leth

doi:10.1109/CCA.2012.6402708

Implementing Force-Feedback in a Telesurgery Environment, Using Parameter Estimation

Thomas Hansen, Claus Henningsen, Jens Nielsen, Rasmus Pedersen, John Schwensen, Senthuran Sivabalan, Jesper Abildgaard Larsen, John-Josef Leth

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

2 Citations (Scopus)

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Abstract

During minimal invasive telesurgery with surgical robots, surgeons rely on their vision to determine the forces applied to tissue. A force-feedback control system has been developed, in order to reduce the unnecessary forces applied
by the surgeon. To avoid adding any additional hardware, the forces in the system have been estimated on the basis of the existing actuators, using parameter estimation techniques. The inevitable time-delays in the network, which imposes challenges in control design, are also estimated and compensated for within the control design.
During tests, it has been shown that it is possible to implement a distributed networked controller, which is stable over a range of typical time-delays. This shows, that the applied parameter estimation technique is indeed a viable solution for implementing force-feedback in telesurgery.

Original language	English
Title of host publication	2012 International Conference on Control, Automation and Information Sciences
Number of pages	7
Publisher	IEEE Press
Publication date	2012
Pages	859 - 864
ISBN (Print)	978-1-4673-4503-3
ISBN (Electronic)	978-1-4673-4504-0
DOIs	https://doi.org/10.1109/CCA.2012.6402708
Publication status	Published - 2012
Event	2012 International Conference on Control, Automation and Information Sciences - Institute of Applied Mechanics and Informatics - VAST, Ho Chi Minh City, Viet Nam Duration: 26 Nov 2012 → 29 Nov 2012

Conference

Conference	2012 International Conference on Control, Automation and Information Sciences
Location	Institute of Applied Mechanics and Informatics - VAST
Country/Territory	Viet Nam
City	Ho Chi Minh City
Period	26/11/2012 → 29/11/2012

Series	I E E E International Conference on Control Applications. Proceedings
ISSN	1085-1992

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title = "Implementing Force-Feedback in a Telesurgery Environment, Using Parameter Estimation",

abstract = "During minimal invasive telesurgery with surgical robots, surgeons rely on their vision to determine the forces applied to tissue. A force-feedback control system has been developed, in order to reduce the unnecessary forces appliedby the surgeon. To avoid adding any additional hardware, the forces in the system have been estimated on the basis of the existing actuators, using parameter estimation techniques. The inevitable time-delays in the network, which imposes challenges in control design, are also estimated and compensated for within the control design.During tests, it has been shown that it is possible to implement a distributed networked controller, which is stable over a range of typical time-delays. This shows, that the applied parameter estimation technique is indeed a viable solution for implementing force-feedback in telesurgery.",

author = "Thomas Hansen and Claus Henningsen and Jens Nielsen and Rasmus Pedersen and John Schwensen and Senthuran Sivabalan and Larsen, {Jesper Abildgaard} and John-Josef Leth",

year = "2012",

doi = "10.1109/CCA.2012.6402708",

language = "English",

isbn = "978-1-4673-4503-3",

series = "I E E E International Conference on Control Applications. Proceedings",

publisher = "IEEE Press",

pages = "859 -- 864",

booktitle = "2012 International Conference on Control, Automation and Information Sciences",

note = "2012 International Conference on Control, Automation and Information Sciences, ICCAIS ; Conference date: 26-11-2012 Through 29-11-2012",

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Hansen, T, Henningsen, C, Nielsen, J, Pedersen, R, Schwensen, J, Sivabalan, S, Larsen, JA & Leth, J-J 2012, Implementing Force-Feedback in a Telesurgery Environment, Using Parameter Estimation. in 2012 International Conference on Control, Automation and Information Sciences. IEEE Press, I E E E International Conference on Control Applications. Proceedings, pp. 859 - 864, 2012 International Conference on Control, Automation and Information Sciences, Ho Chi Minh City, Viet Nam, 26/11/2012. https://doi.org/10.1109/CCA.2012.6402708

Implementing Force-Feedback in a Telesurgery Environment, Using Parameter Estimation. / Hansen, Thomas; Henningsen, Claus ; Nielsen, Jens et al.
2012 International Conference on Control, Automation and Information Sciences. IEEE Press, 2012. p. 859 - 864 (I E E E International Conference on Control Applications. Proceedings).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

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AB - During minimal invasive telesurgery with surgical robots, surgeons rely on their vision to determine the forces applied to tissue. A force-feedback control system has been developed, in order to reduce the unnecessary forces appliedby the surgeon. To avoid adding any additional hardware, the forces in the system have been estimated on the basis of the existing actuators, using parameter estimation techniques. The inevitable time-delays in the network, which imposes challenges in control design, are also estimated and compensated for within the control design.During tests, it has been shown that it is possible to implement a distributed networked controller, which is stable over a range of typical time-delays. This shows, that the applied parameter estimation technique is indeed a viable solution for implementing force-feedback in telesurgery.

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Hansen T, Henningsen C, Nielsen J, Pedersen R, Schwensen J, Sivabalan S et al. Implementing Force-Feedback in a Telesurgery Environment, Using Parameter Estimation. In 2012 International Conference on Control, Automation and Information Sciences. IEEE Press. 2012. p. 859 - 864. (I E E E International Conference on Control Applications. Proceedings). doi: 10.1109/CCA.2012.6402708

Implementing Force-Feedback in a Telesurgery Environment, Using Parameter Estimation

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