Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication Delay

Liu, Chao; Guo, Jun; Poignet, Philippe

doi:10.1016/j.ifacol.2018.11.585

Cited by 18 publications

(12 citation statements)

References 27 publications

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“…In [81], authors developed a nonlinear predictor-based model mediated bilateral teleoperation system for robot-assisted surgery applications. The system mainly considered the time varying communication channels and was developed to compensate for the delay.…”

Section: Recent Systemsmentioning

confidence: 99%

Model Mediation to Overcome Light Limitations—Toward a Secure Tactile Internet System

Ateya

Muthanna

Vybornova

et al. 2019

JSAN

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Enabling haptic communication as well as voice and data over the future 5G cellular system has become a demand. Tactile Internet is one of the main use cases of the 5G system that will allow the transfer of haptic communications in real time. Latency, availability, reliability, and security are the main design challenges of the tactile Internet system and haptic based bilateral teleoperation systems. An end-to-end latency of 1 ms remains the main challenge toward tactile Internet system realization, not only for the processing and coding delays but mainly for the limitations of light. In this work, we analyze the key solutions to overcome the light limitations and enable the tactile Internet over any distances with the required latency. Building a virtual model or model mediated for the remote environment at the edge cloud unit near to the end user is the main solution. By means of AI, the virtual model can predict the behavior of the remote environment and thus, the end user can interact with the virtual environment with a high system experience. This literature review covers the existing work of the model mediated bilateral teleoperated systems and discusses its availability for the tactile Internet system. Furthermore, the security issues of tactile Internet system and the effect of model mediated system on the required security level of tactile Internet applications are discussed. Finally, a structure for the tactile Internet system, with the deployment of model mediation, is suggested.

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Section: Recent Systemsmentioning

confidence: 99%

Model Mediation to Overcome Light Limitations—Toward a Secure Tactile Internet System

Ateya

Muthanna

Vybornova

et al. 2019

JSAN

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“…This scheme compensates deterministic time deferments and develops haptic feedback. Chao Liu et al [3] proposed an efficient teleoperation system that provided a transparent and stable performance that offered robustness against environmental parameter variations and delay in communication. The paper presented a system based on nonlinear Hunt-Crossley model and used recursive least square (RLS) technique.…”

Section: Existing Literaturementioning

confidence: 99%

Precision Improvement and Delay Reduction in Surgical Telerobotics

Manoharan

Ponraj

2019

JAICN

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The field of medicine is greatly benefited by telerobotic surgeries. It allows the surgeon to reach the patient remotely. Traditional surgical telerobotic techniques had several drawbacks mainly due to communication delay and lack of precision. Signal latency also causes significant delay in operations. This also causes the risk of increased human errors. The surgical workflow can be altered by the addition of features like self-correction and self-automation. In this paper, we reduce the delay in telerobotic surgery using supervisory control approach and apply a haptic feedback to regulate safety. Motion scaling technique is used to combat responses in delayed environment as well as to improve the accuracy of the system. Augmented reality, improved functional design, comfort and skills along with the ability to reach the patient remotely promotes the wide use of surgical telerobotics.

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“…While rendering of rigid objects with viscoelastic models, and soft materials with e.g. the Hunt-Crossley model [2], [3] has been studied extensively, haptic interaction with fluids and regolith is less developed. Fluid and regolith dynamics are calculation-intensive, limiting use in haptics where high update rates are key.…”

Section: Introductionmentioning

confidence: 99%

Efficient Haptic Rendering of Regolith

Pereira

Schmidt

2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Driven by the need for physically accurate and haptically convincing models of lunar and planetary regolith for model-mediated teleoperation in space, we present an approach to modelling regolith in an efficient yet realistic way. Model parameters are derived from physical characteristics of the regolith, to render regoliths with different density profiles, cohesion, internal friction and in different gravitational fields.Users could distinguish between changes in parametersspecifically friction and gravity field-and also gave qualitative feedback relevant to modelling regolith. We discuss the challenges in haptically rendering soils and the next steps.

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Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication Delay

Cited by 18 publications

References 27 publications

Model Mediation to Overcome Light Limitations—Toward a Secure Tactile Internet System

Model Mediation to Overcome Light Limitations—Toward a Secure Tactile Internet System

Precision Improvement and Delay Reduction in Surgical Telerobotics

Efficient Haptic Rendering of Regolith

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