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 language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Pages | 721-725 |
| Number of pages | 5 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan Duration: 2010 Mar 21 → 2010 Mar 24 |
Other
| Other | 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 |
|---|---|
| Country | Japan |
| City | Nagaoka, Niigata |
| Period | 10/3/21 → 10/3/24 |
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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
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 proceeding › Conference contribution
}
TY - GEN
T1 - Estimation of environmental model with nonlinear stiffness
AU - Sato, Masataka
AU - Ohnishi, Kouhei
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
KW - Bilateral control
KW - Disturbance observer
KW - Haptics
KW - Impedance estimation
UR - http://www.scopus.com/inward/record.url?scp=77953759980&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77953759980&partnerID=8YFLogxK
U2 - 10.1109/AMC.2010.5464039
DO - 10.1109/AMC.2010.5464039
M3 - Conference contribution
AN - SCOPUS:77953759980
SN - 9781424466696
SP - 721
EP - 725
BT - International Workshop on Advanced Motion Control, AMC
ER -