Haptic control with environment force estimation for telesurgery.
Success of telesurgical operations depends on better position tracking ability of the slave device. Improved position tracking of the slave device can lead to safer and less strenuous telesurgical operations. The two-channel force-position control architecture is widely used for better position tracking ability. This architecture requires force sensors for direct force feedback. Force sensors may not be a good choice in the telesurgical environment because of the inherent noise, and limitation in the deployable place and space. Hence, environment force estimation is developed using the concept of the robot function parameter matrix and a recursive least squares method. Simulation results show efficacy of the proposed method. The slave device successfully tracks the position of the master device, and the estimation error quickly becomes negligible.
Bhattacharjee
Tapomayukh
T
Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea. tapomayukh_kaist.ac.kr
Son
Hyoung Il
HI
Lee
Doo Yong
DY
D000465:Algorithms; D003198:Computer Simulation; D004867:Equipment Design; D006801:Humans; D016018:Least-Squares Analysis; D015233:Models, Statistical; D008962:Models, Theoretical; D015203:Reproducibility of Results; D012984:Software; D013314:Stress, Mechanical; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*; D017216:Telemedicine / Q000295:instrumentation* / Q000379:methods*; D013997:Time Factors