Estimation of environmental model with nonlinear stiffness

Masataka Sato, Kouhei Ohnishi

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

Abstract

Recently, Minimally Invasive Surgery(MIS) has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it as the standard reference value of the safety field of internal organs. In this paper, the environmental model considering nonlinear stiffness in real environment by bilateral control is proposed. The proposed method can estimate environmental model without depending on the initial position of a slave system and environmental surface. To verify the viability of the proposed method, experimental results are shown.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages721-725
Number of pages5
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

Fingerprint

Surgery
Stiffness
Minimally Invasive Surgery
Robot
Robots
Viability
Model
Estimate
Impedance
Safety
Verify
Internal
Experimental Results
Robotic surgery

Keywords

  • Bilateral control
  • Disturbance observer
  • Haptics
  • Impedance estimation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Sato, M., & Ohnishi, K. (2010). Estimation of environmental model with nonlinear stiffness. In International Workshop on Advanced Motion Control, AMC (pp. 721-725). [5464039] https://doi.org/10.1109/AMC.2010.5464039

Estimation of environmental model with nonlinear stiffness. / Sato, Masataka; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2010. p. 721-725 5464039.

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

Sato, M & Ohnishi, K 2010, Estimation of environmental model with nonlinear stiffness. in International Workshop on Advanced Motion Control, AMC., 5464039, pp. 721-725, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464039
Sato M, Ohnishi K. Estimation of environmental model with nonlinear stiffness. In International Workshop on Advanced Motion Control, AMC. 2010. p. 721-725. 5464039 https://doi.org/10.1109/AMC.2010.5464039
Sato, Masataka ; Ohnishi, Kouhei. / Estimation of environmental model with nonlinear stiffness. International Workshop on Advanced Motion Control, AMC. 2010. pp. 721-725
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