Haptic feedback control in medical robots through fractional viscoelastic tissue model

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

*この研究の対応する著者

研究成果: Conference contribution

17 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ページ6704-6708
ページ数5
DOI
出版ステータスPublished - 2011
イベント33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA
継続期間: 2011 8月 302011 9月 3

Other

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

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識
  • 信号処理
  • 生体医工学
  • 健康情報学

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