Haptic feedback control in medical robots through fractional viscoelastic tissue model

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 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 languageEnglish
Title of host publicationProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages6704-6708
Number of pages5
DOIs
Publication statusPublished - 2011
Event33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA
Duration: 2011 Aug 302011 Sep 3

Other

Other33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
CityBoston, MA
Period11/8/3011/9/3

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ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Biomedical Engineering
  • Health Informatics

Cite this

Kobayashi, Y., Moreira, P., Liu, C., Poignet, P., Zemiti, N., & Fujie, M. G. (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 (pp. 6704-6708). [6091653] https://doi.org/10.1109/IEMBS.2011.6091653