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| Content Provider | Springer Nature Link |
|---|---|
| Author | Yoon, Sung Min Kim, Won Jae Lee, Min Cheol |
| Copyright Year | 2015 |
| Abstract | In robot assisted laparoscopic surgery using a commercialized robot, such as the da Vinci, surgeons have encountered problems, such as organ impairment, because they depend only on visual information. To solve these problems, a haptic system is required. Force feedback and a bilateral control system are essential for realizing a haptic teleoperation system. The use of a force/torque sensor for force feedback is difficult in a surgical robot instrument, but previous studies confirmed that the reaction force loaded on a surgical robot instrument can be estimated using a sliding perturbation observer (SPO)-based reaction force estimation method. This paper suggests a bilateral controller applying SPO based force estimation method to realize the possibility of a haptic function in a laparoscopic surgery robot system. In the suggested bilateral controller, the master control uses impedance control and the slave control uses a sliding mode control (SMC). A torque and force sensorless teleoperation system can be implemented using the suggested bilateral control structure through an experimental evaluation. |
| Starting Page | 916 |
| Ending Page | 925 |
| Page Count | 10 |
| File Format | |
| ISSN | 15986446 |
| Journal | International Journal of Control, Automation and Systems |
| Volume Number | 13 |
| Issue Number | 4 |
| e-ISSN | 20054092 |
| Language | English |
| Publisher | Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers |
| Publisher Date | 2015-08-08 |
| Publisher Place | Bucheon, Seoul |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | Bilateral control force estimation haptic impedance control surgical robot Control, Robotics, Mechatronics |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Systems Engineering Computer Science Applications |
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