HapticV1, Main, Curation, bibRecord, 006C12

Haptic feedback designs in teleoperation systems for minimal invasive surgery

Identifieur interne : 006C12 ( Main/Curation ); précédent : 006C11; suivant : 006C13

Haptic feedback designs in teleoperation systems for minimal invasive surgery

Auteurs : Iciar Font [Pays-Bas] ; Siep Weiland [Pays-Bas] ; Martijn Franken [Pays-Bas] ; Maarten Steinbuch [Pays-Bas] ; Loy Rovers [Pays-Bas]

Source :

RBID : Pascal:06-0112038

Descripteurs français

Pascal (Inist)
- Synthèse commande, Téléopération, Robotique, Rétroaction, Système contrôle commande, Commande processus, Système commande adaptative modèle référence, Passivité, Commande robuste, Séquencement gain, Sensibilité tactile, Chirurgie, Relation maître esclave, Système LPV, Tissu, ..
Wicri :
- topic : Robotique, Chirurgie.

English descriptors

KwdEn :
- Control synthesis, Feedback regulation, Gain scheduling, Linear parameter varying system, Master slave relationship, Model reference adaptive control systems, Monitoring control system, Passivity, Process control, Remote operation, Robotics, Robust control, Surgery, Tactile sensitivity, Tissue.

Abstract

One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery, is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and make a coupling between slave and master. Despite the significant amount of research on haptic devices, this control design problem is, largely, an open problem. This paper reports the results on three model-based control designs. Using the formalism of passivity, a robust controller has been designed, and is compared to a gain scheduled controller (LPV) which is adaptable for changes in the tissue characteristics.

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Pascal:06-0112038

Le document en format XML

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<term>Master slave relationship</term>
<term>Model reference adaptive control systems</term>
<term>Monitoring control system</term>
<term>Passivity</term>
<term>Process control</term>
<term>Remote operation</term>
<term>Robotics</term>
<term>Robust control</term>
<term>Surgery</term>
<term>Tactile sensitivity</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Synthèse commande</term>
<term>Téléopération</term>
<term>Robotique</term>
<term>Rétroaction</term>
<term>Système contrôle commande</term>
<term>Commande processus</term>
<term>Système commande adaptative modèle référence</term>
<term>Passivité</term>
<term>Commande robuste</term>
<term>Séquencement gain</term>
<term>Sensibilité tactile</term>
<term>Chirurgie</term>
<term>Relation maître esclave</term>
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<front><div type="abstract" xml:lang="en">One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery, is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and make a coupling between slave and master. Despite the significant amount of research on haptic devices, this control design problem is, largely, an open problem. This paper reports the results on three model-based control designs. Using the formalism of passivity, a robust controller has been designed, and is compared to a gain scheduled controller (LPV) which is adaptable for changes in the tissue characteristics.</div>
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Haptic feedback designs in teleoperation systems for minimal invasive surgery

Haptic feedback designs in teleoperation systems for minimal invasive surgery

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri