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<span>Estimation of motor inertia and friction components is a complex and challenging task in motion control applications where small size DC motors (&lt;100W) are used for precise control. It is essential to estimate the accurate friction components and motor inertia, because the parameters provided by the manufacturer are not always accurate.  This research proposes a Sensorless method of determining DC motor parameters, including moment of inertia, torque coefficient and frictional components using the Disturbance Observer (DOB) as a torque sensor. The constant velocity motion test and a novel Reverse Motion Acceleration test were conducted to estimate frictional components and moment of inertia of the motor. The validity of the proposed novel method was verified by experimental results and compared with conventional acceleration and deceleration motion tests. Experiments have been carried out to show the effectiveness and viability of the estimated parameters using a Reaction Torque Observer (RTOB) based friction compensation method.</span>

During laparoscopic surgeries, primary surgical tool insertion is the demanding and strenuous task. As the surgeon is unaware of the type of the tissue and associated parameters to conduct the insertion, therefore, to ease the procedure, the movement of the surgical tool needs to be controlled. It's the operational capabilities that are to be manipulated to perform a smooth surgery even from a distant location. In this study, a robot system is being introduced for laparoscopic primary surgical tool insertion. It will incorporate a novel observer based dynamic control along with robot assisted bilateral control. Moreover, a virtual spring damper force lock system is introduced through which the slave system will notify the master regarding the target achieved and excessive force. The validation of the proposed control system is experimented with bilaterally controlled MU-LapaRobot. The experiment is comprising 3 cases of bilateral control criteria which are non-contact motion, contact motion, and limit force locking. The results defined the same value for contact and non-contact motion by 0.3N. The results depicted a force error of 3.6% and a position error of 5.8% which validated the proposed algorithm.

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Background: The Endonasal Endoscopic Transsphenoidal Surgery (EETS) is used to remove the sellar lesion. Because of the unique location of the lesion, a subtle deviation of tools may result in severe complications. The better coordination between workspace and working environment is vital. The aim of this study is to determine the pathways and workspace utilized in EETS. In addition, this result will be used to develop the robotic assisted technology model further. Methods: Pathway and workspace details were studied in 80 soft cadavers and dissections were performed in a stepwise manner to simulate EETS. The optical tracking system was used to collect data. MATLAB programming was applied to analyze workspace and pathway. The descriptive data analysis was presented as percentage, mean, and standard deviation. Results: The amplitude of P2S vectors or the length of the EETS workspace was around 70–75 mm. EETS workspace was found to be a cylindrical shape, narrow diameter in the middle with an average volume of 15.97 cm3, the average length of 53.9 mm and average widest width of 19.08 mm. Conclusion: This study presents characteristics of EETS pathway and workspace. Detailed knowledge of the EETS pathway and workspace will facilitate understanding for further robotic research. Highlights: