Asymmetric Bilateral Telerobotic System With Shared Autonomy Control

Sun, Da; Liao, Qianfang

doi:10.1109/tcst.2020.3018426

Cited by 12 publications

(5 citation statements)

References 41 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…2.2. Inspired by [30], in this paper, teleoperation with a wide motion range is interpreted as under-degree-of-freedom posture control. The desired posture at the target point can be denoted as o G. Assuming that the sponge ring is ideally clamped in a vertical orientation at the start point, the desired orientation can be considered to be along the direction of the target peg.…”

Section: Adaptive Posture Adjustmentmentioning

confidence: 99%

An Adaptive Auxiliary Framework for Teleoperated Laparoscopic Surgery

Yiwei,

Haoyuan,

Yubo

et al. 2024

Preprint

View full text Add to dashboard Cite

Novice surgeons perform poorly during robotic surgical teleoperation because of poor consistency, a laparoscopic view that lacks depth information, and low proficiency. To make the novice surgeon perform close to expert operation during teleoperation, this article proposes an auxiliary framework for robotic surgery. A Bayesian statistics-based target prediction algorithm is used to realize the prediction of the operator’s intention, and the information entropy is used to measure the credibility of the predicted target. An adaptive velocity-position hybrid control method based on dynamic bubbles is proposed to realize the efficient performance of surgical tasks by seamlessly switching between slow, precise movements and fast, less precise tasks with no need for frequent grasping and repositioning. Assistance for teleoperation is achieved using virtual fixture force assistance based on task guidance constraints and posture adaptive adjustment based on the predicted target. The proposed framework has been validated on a platform for simulated laparoscopic surgery based on a sigma7 teleoperated primary device and a redundant degree-of-freedom surgical robot secondary device to evaluate its usability and effectiveness. It has also shown its superiority in various metrics in a comprehensive performance comparison with the baseline solution.

show abstract

Section: Adaptive Posture Adjustmentmentioning

confidence: 99%

An Adaptive Auxiliary Framework for Teleoperated Laparoscopic Surgery

Yiwei,

Haoyuan,

Yubo

et al. 2024

Preprint

View full text Add to dashboard Cite

show abstract

“…where A 1 (t) ∈ R 2×2 is a known matrix and B 1 (t) =V md ∈ R 2 is a known vector (which will be given in Section V), anḋ f m ∈ R 2 is a vector to be specified later in this section. Using (20) and (21), it follows from ( 22)-( 26) that…”

Section: F Algebraic Loop and Computation Algorithmsmentioning

confidence: 99%

“…In contrast to a dissimilar master-slave configuration in Fig. 1, the current state of the art in teleoperation control has been mainly focusing on electrical manipulators in symmetrical 1:1 scale configurations, including multimaster or multislave setups, shared control, or dealing with time delays [15]- [20]. The existing methods for teleoperation of hydraulic manipulators have mainly relied on linear control theory and system linearization [8]- [10], [21].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Force-Sensor-Less Bilateral Teleoperation Control of Dissimilar Master–Slave System With Arbitrary Scaling

Lampinen

Koivumäki

Zhu

et al. 2022

IEEE Trans. Contr. Syst. Technol.

View full text Add to dashboard Cite

This study designs a high-precision bilateral teleoperation control for a dissimilar master-slave system. The proposed nonlinear control design takes advantage of a novel subsystem-dynamics-based control method that allows designing of individual (decentralized) model-based controllers for the manipulators locally at the subsystem level. Very importantly, a dynamic model of the human operator is incorporated into the control of the master manipulator. The individual controllers for the dissimilar master and slave manipulators are connected in a specific communication channel for the bilateral teleoperation to function. Stability of the overall control design is rigorously guaranteed with arbitrary time delays. Novel features of this study include the completely force-sensor-less design for the teleoperation system with a solution for a uniquely introduced computational algebraic loop, a method of estimating the exogenous operating force of an operator and the use of a commercial haptic manipulator. Most importantly, we conduct experiments on a dissimilar system in two degrees of freedom (DOFs). As an illustration of the performance of the proposed system, a force scaling factor of up to 800 and position scaling factor of up to 4 was used in the experiments. The experimental results show an exceptional tracking performance, verifying the real-world performance of the proposed concept.

show abstract

“…• • • , M , are general forms of constraint parameters with proper dimensions. ( 13)-( 14) can be treated as hierarchical quadratic problems [45], and solved by introducing Lagrange multipliers. In the next section, the constraints in ( 13)-( 14) will be specified to deal with the collision issue.…”

Section: Type-2 Fuzzy Model-based Movement Primitives (T2fmp)mentioning

confidence: 99%