Estimation of environmental force for the haptic interface of robotic surgery.
Identifieur interne : 001090 ( PubMed/Corpus ); précédent : 001089; suivant : 001091Estimation of environmental force for the haptic interface of robotic surgery.
Auteurs : Hyoung Il Son ; Tapomayukh Bhattacharjee ; Doo Yong LeeSource :
- The international journal of medical robotics + computer assisted surgery : MRCAS [ 1478-596X ] ; 2010.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Biomedical Engineering.
- Feedback, Least-Squares Analysis, Regression Analysis, Software.
Abstract
The success of a telerobotic surgery system with haptic feedback requires accurate force-tracking and position-tracking capacity of the slave robot. The two-channel force-position control architecture is widely used in teleoperation systems with haptic feedback for its better force-tracking characteristics and superior position-tracking capacity for the maximum stability margin. This control architecture, however, requires force sensors at the end-effector of the slave robot to measure the environment force. However, it is difficult to attach force sensors to slave robots, mainly due to their large size, insulation issues and also large currents often flowing through the end-effector for incision or cautery of tissues.
DOI: 10.1002/rcs.311
PubMed: 20506442
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pubmed:20506442Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Estimation of environmental force for the haptic interface of robotic surgery.</title><author><name sortKey="Son, Hyoung Il" sort="Son, Hyoung Il" uniqKey="Son H" first="Hyoung Il" last="Son">Hyoung Il Son</name><affiliation><nlm:affiliation>Department of Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Tübingen, Germany.</nlm:affiliation></affiliation></author><author><name sortKey="Bhattacharjee, Tapomayukh" sort="Bhattacharjee, Tapomayukh" uniqKey="Bhattacharjee T" first="Tapomayukh" last="Bhattacharjee">Tapomayukh Bhattacharjee</name></author><author><name sortKey="Lee, Doo Yong" sort="Lee, Doo Yong" uniqKey="Lee D" first="Doo Yong" last="Lee">Doo Yong Lee</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2010">2010</date><idno type="doi">10.1002/rcs.311</idno><idno type="RBID">pubmed:20506442</idno><idno type="pmid">20506442</idno><idno type="wicri:Area/PubMed/Corpus">001090</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Estimation of environmental force for the haptic interface of robotic surgery.</title><author><name sortKey="Son, Hyoung Il" sort="Son, Hyoung Il" uniqKey="Son H" first="Hyoung Il" last="Son">Hyoung Il Son</name><affiliation><nlm:affiliation>Department of Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Tübingen, Germany.</nlm:affiliation></affiliation></author><author><name sortKey="Bhattacharjee, Tapomayukh" sort="Bhattacharjee, Tapomayukh" uniqKey="Bhattacharjee T" first="Tapomayukh" last="Bhattacharjee">Tapomayukh Bhattacharjee</name></author><author><name sortKey="Lee, Doo Yong" sort="Lee, Doo Yong" uniqKey="Lee D" first="Doo Yong" last="Lee">Doo Yong Lee</name></author></analytic><series><title level="j">The international journal of medical robotics + computer assisted surgery : MRCAS</title><idno type="eISSN">1478-596X</idno><imprint><date when="2010" type="published">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Biomedical Engineering (instrumentation)</term><term>Feedback</term><term>Least-Squares Analysis</term><term>Regression Analysis</term><term>Software</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Biomedical Engineering</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Feedback</term><term>Least-Squares Analysis</term><term>Regression Analysis</term><term>Software</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">The success of a telerobotic surgery system with haptic feedback requires accurate force-tracking and position-tracking capacity of the slave robot. The two-channel force-position control architecture is widely used in teleoperation systems with haptic feedback for its better force-tracking characteristics and superior position-tracking capacity for the maximum stability margin. This control architecture, however, requires force sensors at the end-effector of the slave robot to measure the environment force. However, it is difficult to attach force sensors to slave robots, mainly due to their large size, insulation issues and also large currents often flowing through the end-effector for incision or cautery of tissues.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">20506442</PMID><DateCreated><Year>2010</Year><Month>05</Month><Day>27</Day></DateCreated><DateCompleted><Year>2010</Year><Month>09</Month><Day>21</Day></DateCompleted><Article PubModel="Print"><Journal><ISSN IssnType="Electronic">1478-596X</ISSN><JournalIssue CitedMedium="Internet"><Volume>6</Volume><Issue>2</Issue><PubDate><Year>2010</Year><Month>Jun</Month></PubDate></JournalIssue><Title>The international journal of medical robotics + computer assisted surgery : MRCAS</Title><ISOAbbreviation>Int J Med Robot</ISOAbbreviation></Journal><ArticleTitle>Estimation of environmental force for the haptic interface of robotic surgery.</ArticleTitle><Pagination><MedlinePgn>221-30</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1002/rcs.311</ELocationID><Abstract><AbstractText Label="BACKGROUND" NlmCategory="BACKGROUND">The success of a telerobotic surgery system with haptic feedback requires accurate force-tracking and position-tracking capacity of the slave robot. The two-channel force-position control architecture is widely used in teleoperation systems with haptic feedback for its better force-tracking characteristics and superior position-tracking capacity for the maximum stability margin. This control architecture, however, requires force sensors at the end-effector of the slave robot to measure the environment force. However, it is difficult to attach force sensors to slave robots, mainly due to their large size, insulation issues and also large currents often flowing through the end-effector for incision or cautery of tissues.</AbstractText><AbstractText Label="METHODS" NlmCategory="METHODS">This paper provides a method to estimate the environment force, using a function parameter matrix and a recursive least-squares method. The estimated force is used to feed back the force information to the surgeon through the control architecture without involving the force sensors.</AbstractText><AbstractText Label="RESULTS" NlmCategory="RESULTS">The simulation and experimental results verify the efficacy of the proposed method. The force estimation error is negligible and the slave device successfully tracks the position of the master device while the stability of the teleoperation system is maintained.</AbstractText><AbstractText Label="CONCLUSIONS" NlmCategory="CONCLUSIONS">The developed method allows practical haptic feedback for telerobotic surgery systems in the two-channel force-position control scheme without the direct employment of force sensors at the end-effector of the slave robot.</AbstractText><CopyrightInformation>(c) 2010 John Wiley & Sons, Ltd.</CopyrightInformation></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Son</LastName><ForeName>Hyoung Il</ForeName><Initials>HI</Initials><AffiliationInfo><Affiliation>Department of Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Tübingen, Germany.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Bhattacharjee</LastName><ForeName>Tapomayukh</ForeName><Initials>T</Initials></Author><Author ValidYN="Y"><LastName>Lee</LastName><ForeName>Doo Yong</ForeName><Initials>DY</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>England</Country><MedlineTA>Int J Med Robot</MedlineTA><NlmUniqueID>101250764</NlmUniqueID><ISSNLinking>1478-5951</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001698">Biomedical Engineering</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D005246">Feedback</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D016018">Least-Squares Analysis</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012044">Regression Analysis</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D012984">Software</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2010</Year><Month>5</Month><Day>28</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2010</Year><Month>5</Month><Day>28</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2010</Year><Month>9</Month><Day>23</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1002/rcs.311</ArticleId><ArticleId IdType="pubmed">20506442</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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