title: Haptic feedback control in medical robots through fractional viscoelastic tissue model.
abstract: In this paper, we discuss the design of an adaptive control system for robot-assisted surgery with haptic feedback. Through a haptic device, the surgeon teleoperates the medical instrument in free space, fixed on a remote robot or in contact. In free space, the surgeon feels the motion of the robot. In the present paper, we evaluated the performance of the controller on viscoelastic tissue, modeled by a fractional derivative equation. In addition, we propose a novel controller using an integer formalization process that is suitable for these tissue properties. The simulation results suggested that performance, in terms of force control and telepresence, became poorer when the conventional controller, which was designed for elastic target object, was applied to the viscoelastic tissues. In contrast, the results suggested that our proposed controller maintained its performance on the viscoelastic tissues.
authors.affiliation: Faculty of Science and Engineering, Waseda University, Japan. you-k@fuji.waseda.jp
authors.forename: Yo
authors.initials: Y
authors.lastname: Kobayashi
authors.forename: Pedro
authors.initials: P
authors.lastname: Moreira
authors.forename: Chao
authors.initials: C
authors.lastname: Liu
authors.forename: Philippe
authors.initials: P
authors.lastname: Poignet
authors.forename: Nabil
authors.initials: N
authors.lastname: Zemiti
authors.forename: Masakatsu G
authors.initials: MG
authors.lastname: Fujie
mesh_terms: D000465:Algorithms; D000818:Animals; D003198:Computer Simulation; D004548:Elasticity; D004867:Equipment Design; D005246:Feedback; D006801:Humans; D008099:Liver / Q000473:pathology; D019060:Minimally Invasive Surgical Procedures / Q000379:methods; D015233:Models, Statistical; D009038:Motion; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D013314:Stress, Mechanical; D025321:Surgery, Computer-Assisted / Q000295:instrumentation; D017216:Telemedicine / Q000379:methods; D014584:User-Computer Interface; D014783:Viscosity