Haptic Feedback Control in Medical Robotics through Stiffness Estimation with Extended Kalman
Identifieur interne : 000779 ( France/Analysis ); précédent : 000778; suivant : 000780Haptic Feedback Control in Medical Robotics through Stiffness Estimation with Extended Kalman
Auteurs : Walid Zarrad [France] ; Philippe Poignet [France] ; Rui Cortesão [Portugal] ; Olivier Company [France]Source :
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Abstract
This paper discusses the design of an adaptive control system for robotic-assisted surgery with haptic feedback. Through a haptic device, the surgeon tele-operates the medical instrument, fixed in a remote robot, in free space or in contact. In free space, the surgeon feels the motion of the robot. When contact with tissues occurs, an on-line environment stiffness estimation is performed. Without considering a contact position, the environment estimation parameter strategy uses an Extended Kalman Filter with robot modeling errors compensation. Based on the transparency's frequency analysis, the estimated parameter is used to adapt the teleoperation scheme to ensure stability and to improve telepresence.
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Through a haptic device, the surgeon tele-operates the medical instrument, fixed in a remote robot, in free space or in contact. In free space, the surgeon feels the motion of the robot. When contact with tissues occurs, an on-line environment stiffness estimation is performed. Without considering a contact position, the environment estimation parameter strategy uses an Extended Kalman Filter with robot modeling errors compensation. Based on the transparency's frequency analysis, the estimated parameter is used to adapt the teleoperation scheme to ensure stability and to improve telepresence.</div></front></TEI><affiliations><list><country><li>France</li><li>Portugal</li></country></list><tree><country name="France"><noRegion><name sortKey="Zarrad, Walid" sort="Zarrad, Walid" uniqKey="Zarrad W" first="Walid" last="Zarrad">Walid Zarrad</name></noRegion><name sortKey="Company, Olivier" sort="Company, Olivier" uniqKey="Company O" first="Olivier" last="Company">Olivier Company</name><name sortKey="Poignet, Philippe" sort="Poignet, Philippe" uniqKey="Poignet P" first="Philippe" last="Poignet">Philippe Poignet</name></country><country name="Portugal"><noRegion><name sortKey="Cortesao, Rui" sort="Cortesao, Rui" uniqKey="Cortesao R" first="Rui" last="Cortesão">Rui Cortesão</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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