Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery

This paper presents the performance of a needle insertion teleoperated system with haptic feedback. Through a haptic device, the surgeon tele-operates the surgical needle, fixed on the remote robot that may evolve in free space or in contact. In free space, the surgeon feels the motion of the robot. During the needle insertion, the puncture of the tissue involves an abrupt and large change in the magnitude of the applied force. To perform and improve the tele-operated task, an on-line transparency improvement is achieved using the environment stiffness estimation. The transparency is improved based on the stability of the haptic feedback teleoperation scheme in which we distinguish between the voluntary and involuntary operator position. The quality of telepresence allows the surgeon to perform and exactly characterize the needle insertion phases without using additional transition detection techniques. To assess the proposed teleoperation scheme, a surgical needle rigidly attached to the robot and ex-vivo tissues are used.

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“…In-vivo tissue experiment (i.e. with an anesthetized pig) under Minimally Invasive Surgery constraint [4] will also be considered.…”

Section: Discussionmentioning

confidence: 99%

“…2). Details of the AOB design can be seen in [4]. The overall input generated from the force controller is given by…”

Section: Haptic Force Controllermentioning

confidence: 99%

Towards teleoperated needle insertion with haptic feedback controller

Zarrad

Poignet

Cortesão

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The tool in contact with the soft tissue is a metallic cylinder with a diameter of 6mm. More information about the robot can be read in [16]. The information of position input and force output measured were collected and used to estimate the parameters of each model.…”

Section: A Experimentsmentioning

confidence: 99%

“…If the model accuracy is very good compared to measurement accuracy (Q k << R k ), a modelbased approach is followed with low Kalman gain values. On the other hand, if the measurement is more accurate (Q k >> R k ), a sensor based approach is followed with high Kalman gain values [16].…”

Section: Active Observer Based Controllermentioning

confidence: 99%

“…More recently, force control has been studied to implement tele-operational systems with haptic feedback [16], and also to reject disturbances forces caused by physiological motions [6]. In this last application, the use of classical force controllers may not achieve a good disturbance rejection, mainly because of its bandwidth limitation [5].…”

Section: Introductionmentioning

confidence: 99%

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Soft tissue force control using active observers and viscoelastic interaction model

Moreira

Liu

Zemiti

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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Controlling the interaction between the robot and living soft tissues has became an important issue as the number of robots inside the operating room increases. Many research works have been done in order to control this interaction. Nowadays, researches are running in force control for helping surgeons in medical procedures such as motion compensation in beating heart surgeries and tele-operation systems with haptic feedback. The viscoelasticity property of the interaction between organ tissue and robotic instrument further complicates the force control design which is much easier in other applications by assuming the interaction model to be elastic (industry, stiff object manipulation, etc.). In order to increase the performance of a model based force control, this work presents a force control scheme using Active Observer (AOB) based on a viscoelastic interaction model. The control scheme has shown to be stable through theoretical analysis and its performance was evaluated and compared with a control scheme based on a classical elastic model through experiments, showing that a more realistic model can increases the performance of the force control.

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