Haptic feedback control in medical robots through fractional viscoelastic tissue model.
Identifieur interne : 002B99 ( Main/Merge ); précédent : 002B98; suivant : 002C00Haptic feedback control in medical robots through fractional viscoelastic tissue model.
Auteurs : Yo Kobayashi [Japon] ; Pedro Moreira ; Chao Liu ; Philippe Poignet ; Nabil Zemiti ; Masakatsu G. FujieSource :
- Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference [ 1557-170X ] ; 2011.
English descriptors
- KwdEn :
- Algorithms, Animals, Computer Simulation, Elasticity, Equipment Design, Feedback, Humans, Liver (pathology), Minimally Invasive Surgical Procedures (methods), Models, Statistical, Motion, Reproducibility of Results, Robotics (instrumentation), Robotics (methods), Stress, Mechanical, Surgery, Computer-Assisted (instrumentation), Telemedicine (methods), User-Computer Interface, Viscosity.
- MESH :
- instrumentation : Robotics, Surgery, Computer-Assisted.
- methods : Minimally Invasive Surgical Procedures, Robotics, Telemedicine.
- pathology : Liver.
- Algorithms, Animals, Computer Simulation, Elasticity, Equipment Design, Feedback, Humans, Models, Statistical, Motion, Reproducibility of Results, Stress, Mechanical, User-Computer Interface, Viscosity.
Abstract
In this paper, we discuss the design of an adaptive control system for robot-assisted surgery with haptic feedback. Through a haptic device, the surgeon teleoperates the medical instrument in free space, fixed on a remote robot or in contact. In free space, the surgeon feels the motion of the robot. In the present paper, we evaluated the performance of the controller on viscoelastic tissue, modeled by a fractional derivative equation. In addition, we propose a novel controller using an integer formalization process that is suitable for these tissue properties. The simulation results suggested that performance, in terms of force control and telepresence, became poorer when the conventional controller, which was designed for elastic target object, was applied to the viscoelastic tissues. In contrast, the results suggested that our proposed controller maintained its performance on the viscoelastic tissues.
DOI: 10.1109/IEMBS.2011.6091653
PubMed: 22255877
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pubmed:22255877Le document en format XML
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Fujie</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2011">2011</date><idno type="doi">10.1109/IEMBS.2011.6091653</idno><idno type="RBID">pubmed:22255877</idno><idno type="pmid">22255877</idno><idno type="wicri:Area/PubMed/Corpus">000D11</idno><idno type="wicri:Area/PubMed/Curation">000D11</idno><idno type="wicri:Area/PubMed/Checkpoint">000D54</idno><idno type="wicri:Area/Ncbi/Merge">001D86</idno><idno type="wicri:Area/Ncbi/Curation">001D86</idno><idno type="wicri:Area/Ncbi/Checkpoint">001D86</idno><idno type="wicri:doubleKey">1557-170X:2011:Kobayashi Y:haptic:feedback:control</idno><idno type="wicri:Area/Main/Merge">002B99</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Haptic feedback control in medical robots through fractional viscoelastic tissue model.</title><author><name sortKey="Kobayashi, Yo" sort="Kobayashi, Yo" uniqKey="Kobayashi Y" first="Yo" last="Kobayashi">Yo Kobayashi</name><affiliation wicri:level="1"><nlm:affiliation>Faculty of Science and Engineering, Waseda University, Japan. you-k@fuji.waseda.jp</nlm:affiliation><country xml:lang="fr">Japon</country><wicri:regionArea>Faculty of Science and Engineering, Waseda University</wicri:regionArea><wicri:noRegion>Waseda University</wicri:noRegion></affiliation></author><author><name sortKey="Moreira, Pedro" sort="Moreira, Pedro" uniqKey="Moreira P" first="Pedro" last="Moreira">Pedro Moreira</name></author><author><name sortKey="Liu, Chao" sort="Liu, Chao" uniqKey="Liu C" first="Chao" last="Liu">Chao Liu</name></author><author><name sortKey="Poignet, Philippe" sort="Poignet, Philippe" uniqKey="Poignet P" first="Philippe" last="Poignet">Philippe Poignet</name></author><author><name sortKey="Zemiti, Nabil" sort="Zemiti, Nabil" uniqKey="Zemiti N" first="Nabil" last="Zemiti">Nabil Zemiti</name></author><author><name sortKey="Fujie, Masakatsu G" sort="Fujie, Masakatsu G" uniqKey="Fujie M" first="Masakatsu G" last="Fujie">Masakatsu G. Fujie</name></author></analytic><series><title level="j">Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference</title><idno type="ISSN">1557-170X</idno><imprint><date when="2011" type="published">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Animals</term><term>Computer Simulation</term><term>Elasticity</term><term>Equipment Design</term><term>Feedback</term><term>Humans</term><term>Liver (pathology)</term><term>Minimally Invasive Surgical Procedures (methods)</term><term>Models, Statistical</term><term>Motion</term><term>Reproducibility of Results</term><term>Robotics (instrumentation)</term><term>Robotics (methods)</term><term>Stress, Mechanical</term><term>Surgery, Computer-Assisted (instrumentation)</term><term>Telemedicine (methods)</term><term>User-Computer Interface</term><term>Viscosity</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Robotics</term><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term><term>Robotics</term><term>Telemedicine</term></keywords><keywords scheme="MESH" qualifier="pathology" xml:lang="en"><term>Liver</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Animals</term><term>Computer Simulation</term><term>Elasticity</term><term>Equipment Design</term><term>Feedback</term><term>Humans</term><term>Models, Statistical</term><term>Motion</term><term>Reproducibility of Results</term><term>Stress, Mechanical</term><term>User-Computer Interface</term><term>Viscosity</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper, we discuss the design of an adaptive control system for robot-assisted surgery with haptic feedback. Through a haptic device, the surgeon teleoperates the medical instrument in free space, fixed on a remote robot or in contact. In free space, the surgeon feels the motion of the robot. In the present paper, we evaluated the performance of the controller on viscoelastic tissue, modeled by a fractional derivative equation. In addition, we propose a novel controller using an integer formalization process that is suitable for these tissue properties. The simulation results suggested that performance, in terms of force control and telepresence, became poorer when the conventional controller, which was designed for elastic target object, was applied to the viscoelastic tissues. In contrast, the results suggested that our proposed controller maintained its performance on the viscoelastic tissues.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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