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.
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.
Originalsprog | Engelsk |
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Titel | 2012 International Conference on Control, Automation and Information Sciences |
Antal sider | 7 |
Forlag | IEEE Press |
Publikationsdato | 2012 |
Sider | 859 - 864 |
ISBN (Trykt) | 978-1-4673-4503-3 |
ISBN (Elektronisk) | 978-1-4673-4504-0 |
DOI | |
Status | Udgivet - 2012 |
Begivenhed | 2012 International Conference on Control, Automation and Information Sciences - Institute of Applied Mechanics and Informatics - VAST, Ho Chi Minh City, Vietnam Varighed: 26 nov. 2012 → 29 nov. 2012 |
Konference
Konference | 2012 International Conference on Control, Automation and Information Sciences |
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Lokation | Institute of Applied Mechanics and Informatics - VAST |
Land/Område | Vietnam |
By | Ho Chi Minh City |
Periode | 26/11/2012 → 29/11/2012 |
Navn | I E E E International Conference on Control Applications. Proceedings |
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ISSN | 1085-1992 |