Abstract
Recently, laparoscopic microsurgery using master slave system has been gotten a lot of attention. However, as the current system implemented is not capable of presenting haptic sense to operators, it places a large burden on operators. In addition, it is also necessary to enlarge the kinesthetic sense so that the operators can perceive small reactive force against a patient's body. The reactive force on the slave is minute in microsurgery. Therefore, it is necessary to expand the reactive force recognize the object. However, when the reactive force is expanded by a constant ratio, the distinction of the object becomes difficult. In this paper, in order to solve this problem, we propose variable impedance control. The bilateral control consists of contact mode and free motion mode. In the free motion mode, a constant impedance model is used. In the contact mode, estimate the impedance of the object and vary the control model. As a result, the characteristic of the object is clearly reproduced on the master, and the distinction of the object can be facilitated.
| Original language | English |
|---|---|
| Pages (from-to) | 1508-1513 |
| Number of pages | 6 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 74 |
| Issue number | 6 |
| Publication status | Published - 2008 Jun |
Keywords
- Bilateral control
- Disturbance observer
- Impedance Control
- Surgery robot
ASJC Scopus subject areas
- Mechanical Engineering
Cite this
Variable impedance bilateral control for object discrimination in microsurgery. / Ando, Yutaka; Nakazawa, Kazuo; Morikawa, Yasuhide.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 74, No. 6, 06.2008, p. 1508-1513.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Variable impedance bilateral control for object discrimination in microsurgery
AU - Ando, Yutaka
AU - Nakazawa, Kazuo
AU - Morikawa, Yasuhide
PY - 2008/6
Y1 - 2008/6
N2 - Recently, laparoscopic microsurgery using master slave system has been gotten a lot of attention. However, as the current system implemented is not capable of presenting haptic sense to operators, it places a large burden on operators. In addition, it is also necessary to enlarge the kinesthetic sense so that the operators can perceive small reactive force against a patient's body. The reactive force on the slave is minute in microsurgery. Therefore, it is necessary to expand the reactive force recognize the object. However, when the reactive force is expanded by a constant ratio, the distinction of the object becomes difficult. In this paper, in order to solve this problem, we propose variable impedance control. The bilateral control consists of contact mode and free motion mode. In the free motion mode, a constant impedance model is used. In the contact mode, estimate the impedance of the object and vary the control model. As a result, the characteristic of the object is clearly reproduced on the master, and the distinction of the object can be facilitated.
AB - Recently, laparoscopic microsurgery using master slave system has been gotten a lot of attention. However, as the current system implemented is not capable of presenting haptic sense to operators, it places a large burden on operators. In addition, it is also necessary to enlarge the kinesthetic sense so that the operators can perceive small reactive force against a patient's body. The reactive force on the slave is minute in microsurgery. Therefore, it is necessary to expand the reactive force recognize the object. However, when the reactive force is expanded by a constant ratio, the distinction of the object becomes difficult. In this paper, in order to solve this problem, we propose variable impedance control. The bilateral control consists of contact mode and free motion mode. In the free motion mode, a constant impedance model is used. In the contact mode, estimate the impedance of the object and vary the control model. As a result, the characteristic of the object is clearly reproduced on the master, and the distinction of the object can be facilitated.
KW - Bilateral control
KW - Disturbance observer
KW - Impedance Control
KW - Surgery robot
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M3 - Article
AN - SCOPUS:50649115917
VL - 74
SP - 1508
EP - 1513
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 6
ER -