Abstract
Motion-canceling bilateral control, a teleoperation method, is proposed and implemented for telesurgical robots. Telesurgical robots have difficulty in achieving control owing to a lack of haptic feedback and the beating motion of organs. Hence, this study aims to provide a surgeon with the means for feeling the tactile sensation of the remote organ, as well as synchronizing with its motion. Therefore, a surgeon can treat the target using a master robot as if the organ is not moving even though it actually moves. The proposed method basically consists of acceleration-based bilateral control to achieve haptic feedback, and visual servoing is used to compensate for organ motion. The frequency characteristics and root locus of the proposed method are analyzed to evaluate its performance and stability, respectively. The proposal is validated through experiments using telesurgical forceps robots.
| Original language | English |
|---|---|
| Article number | 6648443 |
| Pages (from-to) | 3753-3764 |
| Number of pages | 12 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 61 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - 2014 Jul |
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Keywords
- Bilateral control
- Haptics
- Medical robotics
- Motion canceling
- Teleoperation
- Visual servoing
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Heartbeat synchronization with haptic feedback for telesurgical robot. / Nakajima, Yu; Nozaki, Takahiro; Ohnishi, Kouhei.
In: IEEE Transactions on Industrial Electronics, Vol. 61, No. 7, 6648443, 07.2014, p. 3753-3764.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Heartbeat synchronization with haptic feedback for telesurgical robot
AU - Nakajima, Yu
AU - Nozaki, Takahiro
AU - Ohnishi, Kouhei
PY - 2014/7
Y1 - 2014/7
N2 - Motion-canceling bilateral control, a teleoperation method, is proposed and implemented for telesurgical robots. Telesurgical robots have difficulty in achieving control owing to a lack of haptic feedback and the beating motion of organs. Hence, this study aims to provide a surgeon with the means for feeling the tactile sensation of the remote organ, as well as synchronizing with its motion. Therefore, a surgeon can treat the target using a master robot as if the organ is not moving even though it actually moves. The proposed method basically consists of acceleration-based bilateral control to achieve haptic feedback, and visual servoing is used to compensate for organ motion. The frequency characteristics and root locus of the proposed method are analyzed to evaluate its performance and stability, respectively. The proposal is validated through experiments using telesurgical forceps robots.
AB - Motion-canceling bilateral control, a teleoperation method, is proposed and implemented for telesurgical robots. Telesurgical robots have difficulty in achieving control owing to a lack of haptic feedback and the beating motion of organs. Hence, this study aims to provide a surgeon with the means for feeling the tactile sensation of the remote organ, as well as synchronizing with its motion. Therefore, a surgeon can treat the target using a master robot as if the organ is not moving even though it actually moves. The proposed method basically consists of acceleration-based bilateral control to achieve haptic feedback, and visual servoing is used to compensate for organ motion. The frequency characteristics and root locus of the proposed method are analyzed to evaluate its performance and stability, respectively. The proposal is validated through experiments using telesurgical forceps robots.
KW - Bilateral control
KW - Haptics
KW - Medical robotics
KW - Motion canceling
KW - Teleoperation
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=84894088282&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84894088282&partnerID=8YFLogxK
U2 - 10.1109/TIE.2013.2287258
DO - 10.1109/TIE.2013.2287258
M3 - Article
VL - 61
SP - 3753
EP - 3764
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 7
M1 - 6648443
ER -