Transparent and Shaped Stiffness Reflection for Telesurgery

Willaert, Bert; Goethals, Pauwel; Reynaerts, Dominiek; Brussel, Hendrik Van; Poorten, Emmanuel Vander

doi:10.5772/8717

Cited by 10 publications

(14 citation statements)

References 57 publications

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“…It has been proposed as a controller for telesurgery by, among others, Cavusoglu et al [2002], De Gersem et al [2005] and Tavakoli et al [2007]. Other researchers, such as Misra and Okamura [2006], Willaert et al [2010b] and Son and Lee [2008] compare alternative controllers to the Position-Force controller. The success of the Position-Force controller lies in its simplicity.…”

Section: Two-port Passivitymentioning

confidence: 99%

A mechatronic analysis of the classical position-force controller based on bounded environment passivity

Willaert

Corteville

Reynaerts

et al. 2010

The International Journal of Robotics Research

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Bounded Environment Passivity, presented in this paper, allows one to design teleoperation systems that behave passive provided that the environment with which interaction takes place, belongs to an a-priori defined range of environments. The use of such a-priori knowledge on the environment reduces conservativeness with respect to classical design approaches. An additional advantage lies in its capability to get a clearer insight on which type of environments are problematic for the specific controller under investigation. On the basis of a case study, i.e. the well-known Position-Force controller, this paper describes and compares different passivity-based methods. First, the traditional methods of two-port passivity and absolute stability are applied. The restrictions of these methods to come up with useful design rules are explicitly demonstrated. Then, the Bounded Environment Passivity conditions of the Position-Force controller are derived. These conditions describe the relation between the specific controller implementation, the teleoperator dynamics and the environment characteristics. Additionally, the effects of structural resonance frequencies and low-pass filters, often present in realistic teleoperator setups, are described. This analysis reveals fundamental mechatronic rules of thumb for the design of a teleoperator system with a Position-Force control architecture. The theoretical results are verified experimentally on a 1-d.o.f.-teleoperation system.

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Section: Two-port Passivitymentioning

confidence: 99%

A mechatronic analysis of the classical position-force controller based on bounded environment passivity

Willaert

Corteville

Reynaerts

et al. 2010

The International Journal of Robotics Research

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“…The Position-Force controller without master velocityfeedforward, applied upon the teleoperator (1), (2) and (3), and expressed by control laws (4) and (6) is absolutely stable when the scale factors λ and µ respect both inequalities (19) and (20). Fig.…”

Section: Theorem 2 (Absolutely Stable P-f Controllers)mentioning

confidence: 99%

“…This controller is being applied for telesurgery in, among others, [7], [8] and [9]. Other works, such as [19], [20] and and [21] compare alternative controllers to the Position-Force controller. The popularity of the Position-Force controller in telesurgery can be explained by the need for a) well-understood b) bilateral teleoperation controllers, that c) show good performance.…”

Section: Introductionmentioning

confidence: 99%

Bounded environment passivity of the classical Position-Force teleoperation controller

Willaert

Corteville

Reynaerts

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper derives analytic guidelines to tune the popular Position-Force bilateral controller and improve its performance by incorporating available knowledge on the bounds of the environment impedance. The proposed guidelines can prove especially useful in the domain of telesurgery where a need exists for well-understood bilateral teleoperation controllers, that show good performance and where many tasks can be characterized by restricted and relatively easily definable impedance regions. This paper firstly analyses the two-port passivity and absolute stability properties of two alternatives of the Position-Force controller. The limitations on achievable performance when guaranteeing absolute stability with arbitrary environments are detailed. Next, a novel method, called Bounded Environment Passivity method is introduced. This method enables the design of teleoperation controllers that show passive behaviour for interactions with an environment that varies over a given range of impedances. A set of guidelines that allow a smarter trade-off between performance and stability follows. The theoretical results are verified experimentally on a 1-d.o.f. teleoperation setup.

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“…As stability over a wide range of stiffness such as during bone surgery poses a challenge, stability is ensured for example by using a passivity observer [7], by combining multiple controllers for different stiffness ranges [5,6], or simply switching off the controller for hard contacts [8]. The contribution of this paper is a control architecture specifically for teleoperated drilling or milling, based on requirements derived from the context of bone surgery.…”

Section: Introductionmentioning

confidence: 99%

Conceptual design of force reflection control for teleoperated bone surgery

Schleer¹,

Vossel²,

Drobinsky³

et al. 2020

Current Directions in Biomedical Engineering

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Bilateral control of teleoperated robots still poses a challenge, especially if environment properties vary over a large degree. Most currently available systems do not provide force feedback and consequently surgeons still have to estimate contact forces predominantly visually. During drilling or milling in bone surgery, visual estimation is virtually impossible due to hardly any deformations. However, the force progression contains important complimentary information for the surgeon. Therefore, a concept for a force-reflecting controller for drilling or milling during teleoperated bone surgery was developed and tested on a one degree of freedom (DOF) test setup. First, the desired behavior and control architectures were derived based on the context of bone surgery. The resulting controller combines three control architectures in a switching controller, depending on the tool actuation and environment properties. Experimental results with a 1-DOF test setup showed the desired control and switching behavior, while remaining stable. Therefore, the developed control concept seems promising for teleoperated bone surgery.

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Transparent and Shaped Stiffness Reflection for Telesurgery

Cited by 10 publications

References 57 publications

A mechatronic analysis of the classical position-force controller based on bounded environment passivity

A mechatronic analysis of the classical position-force controller based on bounded environment passivity

Bounded environment passivity of the classical Position-Force teleoperation controller

Conceptual design of force reflection control for teleoperated bone surgery

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