Haptic feedback control in medical robots through fractional viscoelastic tissue model.

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

Research output: Contribution to journalArticle

2 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.

Fingerprint

Feedback control
Robots
Tissue
Controllers
Adaptive control systems
Force control
Surgery
Derivatives
Feedback
Equipment and Supplies
Surgeons

ASJC Scopus subject areas

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

Cite this

Haptic feedback control in medical robots through fractional viscoelastic tissue model. / Kobayashi, Y.; Moreira, Pedro; Liu, Chao; Poignet, Philippe; Zemiti, Nabil; Fujie, Masakatsu G.

In: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Vol. 2011, 2011, p. 6704-6708.

Research output: Contribution to journalArticle

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