Haptic feedback control in medical robots through fractional viscoelastic tissue model

Yo Kobayashi; Pedro Moreira; Chao Liu; Philippe Poignet; Nabil Zemiti; Masakatsu G. Fujie

doi:10.1109/IEMBS.2011.6091653

Haptic feedback control in medical robots through fractional viscoelastic tissue model

Yo Kobayashi^*, Pedro Moreira, Chao Liu, Philippe Poignet, Nabil Zemiti, Masakatsu G. Fujie

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

18 Citations (Scopus)

Abstract

In this paper, we discuss the design of an adaptive control system for robot-assisted surgery with haptic feedback. Through a haptic device, the surgeon teleoperates the medical instrument in free space, fixed on a remote robot or in contact. In free space, the surgeon feels the motion of the robot. In the present paper, we evaluated the performance of the controller on viscoelastic tissue, modeled by a fractional derivative equation. In addition, we propose a novel controller using an integer formalization process that is suitable for these tissue properties. The simulation results suggested that performance, in terms of force control and telepresence, became poorer when the conventional controller, which was designed for elastic target object, was applied to the viscoelastic tissues. In contrast, the results suggested that our proposed controller maintained its performance on the viscoelastic tissues.

Original language	English
Title of host publication	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages	6704-6708
Number of pages	5
DOIs	https://doi.org/10.1109/IEMBS.2011.6091653
Publication status	Published - 2011
Event	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA Duration: 2011 Aug 30 → 2011 Sept 3

Other

Other	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
City	Boston, MA
Period	11/8/30 → 11/9/3

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Signal Processing
Biomedical Engineering
Health Informatics

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Kobayashi, Y, Moreira, P, Liu, C, Poignet, P, Zemiti, N & Fujie, MG 2011, Haptic feedback control in medical robots through fractional viscoelastic tissue model. in Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS., 6091653, pp. 6704-6708, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011, Boston, MA, 11/8/30. https://doi.org/10.1109/IEMBS.2011.6091653

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AU - Fujie, Masakatsu G.

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Haptic feedback control in medical robots through fractional viscoelastic tissue model

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