Heartbeat synchronization with haptic feedback for telesurgical robot

Yu Nakajima, Takahiro Nozaki, Kouhei Ohnishi

研究成果: Article

34 引用 (Scopus)

抄録

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.

元の言語English
記事番号6648443
ページ(範囲)3753-3764
ページ数12
ジャーナルIEEE Transactions on Industrial Electronics
61
発行部数7
DOI
出版物ステータスPublished - 2014 7

Fingerprint

Synchronization
Robots
Feedback
Root loci
Visual servoing
Remote control
Experiments

ASJC Scopus subject areas

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

これを引用

Heartbeat synchronization with haptic feedback for telesurgical robot. / Nakajima, Yu; Nozaki, Takahiro; Ohnishi, Kouhei.

:: IEEE Transactions on Industrial Electronics, 巻 61, 番号 7, 6648443, 07.2014, p. 3753-3764.

研究成果: Article

@article{3438093cae9d4972a9cf31696550ad2a,
title = "Heartbeat synchronization with haptic feedback for telesurgical robot",
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.",
keywords = "Bilateral control, Haptics, Medical robotics, Motion canceling, Teleoperation, Visual servoing",
author = "Yu Nakajima and Takahiro Nozaki and Kouhei Ohnishi",
year = "2014",
month = "7",
doi = "10.1109/TIE.2013.2287258",
language = "English",
volume = "61",
pages = "3753--3764",
journal = "IEEE Transactions on Industrial Electronics",
issn = "0278-0046",
publisher = "IEEE Industrial Electronics Society",
number = "7",

}

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

AN - SCOPUS:84894088282

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 -