NDLI: Bilateral control for omnidirectional bending motion of the DSD forceps teleoperation system with time varying delay

Content Provider	IEEE Xplore Digital Library
Author	Mikami, H. Nishitani, Y. Hikita, M. Ishii, C. Hashimoto, H.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering, Graduate School of Kogakuin University, Nishishinjuku, Shinjuku-ku, Tokyo, Japan (Mikami, H.; Nishitani, Y.; Hikita, M.) \|\| Master's Program of Innovation for Design and Engineering, Advanced Institute of Industrial Technology, Higashiooi, Shinagawa-ku, Tokyo, Japan (Hashimoto, H.) \|\| Department of Mechanical Engineering, Hosei University, Kajino-cho, Koganei-shi, Tokyo, Japan (Ishii, C.)
Abstract	Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. We have developed a multi-DOF robotic forceps manipulator using a novel omnidirectional bending mechanism, and for the developed robotic forceps manipulator, we proposed a passivity based bilateral control that enables motion scaling in both position tracking and force tracking, and guarantees the stability of the teleoperation system in the presence of constant time delay, so far. In this paper, the passivity based bilateral control is improved so as to guarantee the stability of the teleoperation system not only in the presence of the constant time delay but also in the presence of the time varying delay. However, the proposed bilateral control law is applicable only to the one DOF bending motion of the robotic forceps. Therefore, using the change of coordinates, the proposed bilateral control scheme is extended so that it may become applicable to the omnidirectional bending motion of the robotic forceps. In order to verify the effectiveness of the proposed control scheme, experimental works were carried out for the developed robotic forceps.
Starting Page	163
Ending Page	168
File Size	1589507
Page Count	6
File Format	PDF
ISBN	9781424483754
e-ISBN	9781424483761
e-ISBN	9781424483747
DOI	10.1109/ICAL.2010.5585401
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-16
Publisher Place	Hong Kong
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Couplings Time varying communication delay Frequency modulation Robot kinematics Delay effects Force Bilateral control Manipulators Teleoperation system Robotic forceps
Content Type	Text
Resource Type	Article

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