Models for Force Control in Telesurgical Robot Systems

Takács, Árpád; Kovács, Levente; Rudas, Imre J.; Precup, Radu‐Emil; Haidegger, Tamás

doi:10.12700/aph.12.8.2015.8.6

Cited by 26 publications

(5 citation statements)

References 24 publications

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“…The concept of the qualification method is based on the theoretical introduction of a so-called performance-function (к), which provides a percentile value of the measured rotation (ρpr (φ)) of a commercial prosthesis relative to the referencerotation (ρref (φ)). This has been introduced by Katona et al [8]: (1) where: In order to estimate a performance-function of an arbitrary TKR, e.g. with regard to rotation, both the rotation function (ρpr (φ)) of the examined prosthesis and the reference-rotation function (ρref (φ)) needed to be determined.…”

Section: Concept Of Qualificationmentioning

confidence: 99%

“…A wide range of choice regarding the brands (Stryker©, Zimmer©, BioTech©, CeramTec© or Sanatmetal©) and sizes (S, M, L, XL, etc.) of commercial knee replacements and supporting telesurgical technologies [1] are available for surgeons to carry out knee operations to restore closely the same kinematics of the physiological knee joint. Multiple, substantial studies have been published about how total knee replacement (TKR) design affects the kinetics [2,3] and kinematics [4] of the knee joint.…”

Section: Introductionmentioning

confidence: 99%

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Preliminary Results of Size and Slide-Roll Effect on the Kinematics of Total Knee Replacements

Fekete¹,

Sun²,

Liu³

et al. 2018

ACTA POLYTECH HUNG

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This paper deals with two fundamental questions with regard to total knee replacement kinematics. First, it provides quantitative information about the effect of knee prosthesis size on restored knee rotation by the so-called performance function. Second, the paper introduces a hypothesis which considers the effect of slide-roll on the performance function. By means of statistical methods, a strong linear correlation between slide-roll and performance-function of the examined total knee replacements was deduced. This result can be interpreted as follows: alteration of slide-roll ratio may enhance the overall performance of total knee replacements with regard to the restored kinematics, or in this specific case, the rotation.

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Section: Concept Of Qualificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Preliminary Results of Size and Slide-Roll Effect on the Kinematics of Total Knee Replacements

Fekete¹,

Sun²,

Liu³

et al. 2018

ACTA POLYTECH HUNG

View full text Add to dashboard Cite

show abstract

“…Compared with surgical robots such as Da Vinci ® [7,8], which need appropriate modeling of the interaction between the manipulated tissues and the instruments, the interventional surgical robot is relatively simple and are mainly developed to realize the delivery and rotation of the guide wire/catheter in the blood vessel. Reliability and ease of use are the core competitiveness of medical robots.…”

Section: Introductionmentioning

confidence: 99%

A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization

et al. 2020

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Transcatheter arterial chemoembolization (TACE) is the common choice of non-open surgery for hepatocellular carcinoma (HCC) now. In this study, a simple TACE robotic system of 4-degree-of-freedom is proposed to get higher accuracy and stability of the surgery operation and reduce X-ray exposure time of the surgeons. The master–slave control strategy is adopted in the robotic system and a customized sigmoid function is designed to optimize the joystick control of the master–slave robotic control system. A force-sensing module is developed to sense the resistance of the guide wire in linear delivery motion and an auxiliary bending feedback method based on constraint pipe with a film sensor is proposed. With two force-sensing methods, the safety strategy of robotic motion with 9 different motion constraint coefficients is given and a human–computer interface is developed. The TACE robot would monitor the value of the force sensor and the analog voltage of the film sensor to adopt the corresponding motion constraint coefficient in every 10 ms. Vascular model experiments were performed to validate the robotic system, and the results showed that the safety strategy could improve the reliability of the operation with immediate speed constraint and avoid potential aggressive delivery.

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“…The excellent scientific contributions and management activity of Prof. Imre J. Rudas are kindly acknowledged. Some representative well-accepted joint papers in this regard are given in (Pozna et al, 2010 [20], (Haidegger et al, 2012) [21], (Precup et al, 2012) [22] and (Takács et al, 2015) [23].…”

Section: Introductionmentioning

confidence: 99%

Results on Tensor Product-based Model Transformation of Magnetic Levitation Systems

Hedrea¹,

Precup²,

Bojan-Dragoş³

2019

ACTA POLYTECH HUNG

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In this paper the TP-based model transformation method is used in order to obtain a Tensor Product-based model of magnetic levitation systems which approximates the behavior of the plant, but exhibiting a numerical approximation error. In order to test the derived TP model, the behavior of the TP model is compared to the laboratory equipment behavior taking into consideration five testing scenarios. Experimental results show that approximation errors are generally low, but depend on model parameters.

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Models for Force Control in Telesurgical Robot Systems

Cited by 26 publications

References 24 publications

Preliminary Results of Size and Slide-Roll Effect on the Kinematics of Total Knee Replacements

Preliminary Results of Size and Slide-Roll Effect on the Kinematics of Total Knee Replacements

A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization

Results on Tensor Product-based Model Transformation of Magnetic Levitation Systems

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