Implementation of bilateral control system based on acceleration control using FPGA for multi-DOF haptic endoscopic surgery robot

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi, Toshikazu Kawai, Yasuhide Morikawa, Soji Ozawa, Toshiharu Furukawa

Research output: Contribution to journalArticle

104 Citations (Scopus)

Abstract

Bilateral control systems are strongly required to apply to endoscopic surgeries. It is necessary that the system has enough degrees of freedom for applying various operation procedures including endoscopic surgery. When the degrees of freedom of the system are increased, the amount of control calculation is also increased, and it is hard to keep sampling periods short. The bilateral control systems, however, require comparatively shorter sampling periods, particularly the control system based on an acceleration control system. Hence, it is a difficult issue to increase the degrees of freedom of the bilateral control system. In this paper, the sampling period is kept short in the multi-degree of freedom system by using field programmable gate arrays as processors. The bilateral control system based on the acceleration control system is implemented in a robot system, which has 12 DOF, and some experimental results are shown, and the errors between the response of the master and slave robots are discussed.

Original languageEnglish
Pages (from-to)618-627
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Volume56
Issue number3
DOIs
Publication statusPublished - 2009

Keywords

  • Acceleration control
  • Bilateral control
  • Fieldprogrammable gate array (FPGA)
  • Surgical robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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