Remote surgery is one of the most desired applications in the context of recent advanced medical technologies. For a future expansion of remote surgery, it is important to use conventional network infrastructures such as Internet. However, using such conventional network infrastructures, we are confronting time-delay problems of data transmission. In this paper, a remote surgery experiment between Japan and Thailand using a Research and Development Internet is presented. In the experiment, the image and audio information was transmitted by a newly developed low latency CODEC system to shorten the time-delay. By introducing the low latency CODEC system, the time-delay was shortened compared with the past remote surgery experiments despite the longer distance. We also conducted several network measurements such as a comparison between TCP/IP and UDP/IP about the control signal transmission.
A novel control scheme based on wave variables for controlling the teleoperation system over the time-varying delayed communication is proposed. Regarding to the symmetric wave teleoperation control layout, the control is achieved by adjusting the wave variables based on the difference between the desired and the fictitious position, which is obtained from integrating the non-distorted wave variables. The resulting wave is then applied to the master/slave robots controlled with local PD controller. By this control scheme, the system is stable and the position difference of the master and slave is proven to converge to zero in the free motion case if the time delay is continuously differentiable. In addition, the slave-environment interaction force is reflected to the operator precisely when the static contact is made during steady time delay. This control scheme can readily be extended to the implementation of the teleoperation system in full task space SO (3) × R 3 .
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