Toward hybrid position/force control for an active handheld micromanipulator

Wells, Trent S.; MacLachlan, Robert A.; Riviere, Cameron N.

doi:10.1109/icra.2014.6906942

Cited by 8 publications

(12 citation statements)

References 23 publications

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“…Further results are presented under more realistic test conditions for both an artificial model and an animal model in vivo , comparing hybrid position/force control and position control only. It should be noted the thresholds have been decreased from previous work in the artificial model to better demonstrate the effectiveness of hybrid control.…”

Section: Resultsmentioning

confidence: 99%

“…Wells et al . examined hybrid position/force control for preventing tears; however, bleeding was observed in chick eggs even in the absence of tears. This suggests that the threshold to avoid trauma should be set lower than the tearing threshold; this requires further consideration.…”

Section: Discussionmentioning

confidence: 99%

“…The hybrid position/force control system utilizes Micron's previously developed position‐control loop integrated with a direct force‐control loop . The system is similar to the classic hybrid position/force control originally proposed by Craig and Raibert .…”

Section: Methodsmentioning

confidence: 99%

“…Preliminary results with Micron using hybrid position/ force control involved membrane peeling by a single non‐surgeon operating on an artificial phantom . The present paper describes the addition of a Kalman‐based feed forward component to improve force control, and includes experiments with three novices and a trained retinal microsurgeon testing the system in an animal model of retinal peeling in vivo , in addition to the previous artificial phantom.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid position/force control of an active handheld micromanipulator for membrane peeling

Wells

Yang

MacLachlan

et al. 2015

Robotics Computer Surgery

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Background Peeling procedures in retinal surgery require micron-scale manipulation and control of sub-tactile forces. Methods Hybrid position/force control of an actuated handheld microsurgical instrument is presented as a means for simultaneously improving positioning accuracy and reducing forces to prevent avoidable trauma to tissue. The system response was evaluated, and membrane-peeling trials were performed by four test subjects in both artificial and animal models. Results Maximum force was reduced by 56% in both models as compared to position control. No statistically significant effect on procedure duration was observed. Conclusions A hybrid position/force control system has been implemented that successfully attenuates forces and minimizes unwanted excursions during microsurgical procedures such as membrane peeling. Results also suggest that improvements in safety using this technique may be attained without increasing the duration of the procedure.

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Section: Resultsmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Hybrid position/force control of an active handheld micromanipulator for membrane peeling

Wells

Yang

MacLachlan

et al. 2015

Robotics Computer Surgery

Self Cite

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“…Furthermore, when the surgical robot interacts with its environment by puncturing, twisting, cutting, etc., it is expected to autonomously identify the unforeseen circumstances and implement the appropriate algorithms [ 1 , 2 , 3 , 4 , 5 , 6 , 8 , 9 , 19 , 20 ]. Thus, there is a sharply increasing desire for force control research in the field of surgical robots in recent decades, especially for active force control [ 21 ].…”

Section: Introductionmentioning

confidence: 99%

Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

Yang

Xie

Liu

et al. 2018

Sensors

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Robot-assisted surgery is of growing interest in the surgical and engineering communities. The use of robots allows surgery to be performed with precision using smaller instruments and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks are lost during needle insertion. Advancements in force feedback and control not only help reduce tissue deformation and needle deflection but also provide the surgeon with better control over the surgical instruments. The goal of this review is to summarize the key components surrounding the force feedback and control during robot-assisted needle insertion. The literature search was conducted during the middle months of 2017 using mainstream academic search engines with a combination of keywords relevant to the field. In total, 166 articles with valuable contents were analyzed and grouped into five related topics. This survey systemically summarizes the state-of-the-art force control technologies for robot-assisted needle insertion, such as force modeling, measurement, the factors that influence the interaction force, parameter identification, and force control algorithms. All studies show force control is still at its initial stage. The influence factors, needle deflection or planning remain open for investigation in future.

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Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

Jia¹,

Chen²,

Zhang³

et al. 2019

Robotica

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SUMMARYIn order to solve joint-angle drift problem of dual redundant manipulators at acceleration-level, an acceleration-level tri-criteria optimization motion planning (ALTC-OMP) scheme is proposed, which combines the minimum acceleration norm, repetitive motion planning, and infinity-norm acceleration minimization solutions via weighting factor. This scheme can resolve the joint-angle drift problem of dual redundant manipulators which will arise in single criteria or bi-criteria scheme. In addition, the proposed scheme considers joint-velocity joint-acceleration physical limits. The proposed scheme can not only guarantee joint-velocity and joint-acceleration within their physical limits, but also ensure that final joint-velocity and joint-acceleration are near to zero. This scheme is realized by dual redundant manipulators which consist of left and right manipulators. In order to ensure the coordinated operation of manipulators, two motion planning problems are reformulated as two general quadratic program (QP) problems and further unified into one standard QP problem, which is solved by a simplified linear-variational-inequalities-based primal-dual neural network at the acceleration-level. Computer-simulation results based on dual PUMA560 redundant manipulators further demonstrate the effectiveness and feasibility of the proposed ALTC-OMP scheme to resolve joint-angle drift problem arising in the dual redundant manipulators.

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Toward hybrid position/force control for an active handheld micromanipulator

Cited by 8 publications

References 23 publications

Hybrid position/force control of an active handheld micromanipulator for membrane peeling

Hybrid position/force control of an active handheld micromanipulator for membrane peeling

Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

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