Kobayashi Yo, Moreira Pedro, Liu Chao, Poignet Philippe, Zemiti Nabil, Fujie Masakatsu G
Faculty of Science and Engineering, Waseda University, Japan.
Annu Int Conf IEEE Eng Med Biol Soc. 2011;2011:6704-8. doi: 10.1109/IEMBS.2011.6091653.
In this paper, we discuss the design of an adaptive control system for robot-assisted surgery with haptic feedback. Through a haptic device, the surgeon teleoperates the medical instrument in free space, fixed on a remote robot or in contact. In free space, the surgeon feels the motion of the robot. In the present paper, we evaluated the performance of the controller on viscoelastic tissue, modeled by a fractional derivative equation. In addition, we propose a novel controller using an integer formalization process that is suitable for these tissue properties. The simulation results suggested that performance, in terms of force control and telepresence, became poorer when the conventional controller, which was designed for elastic target object, was applied to the viscoelastic tissues. In contrast, the results suggested that our proposed controller maintained its performance on the viscoelastic tissues.
在本文中，我们讨论了用于具有触觉反馈的机器人辅助手术的自适应控制系统的设计。通过触觉设备，外科医生在自由空间、固定在远程机器人上或处于接触状态下对医疗器械进行远程操作。在自由空间中，外科医生能感受到机器人的运动。在本文中，我们评估了控制器在由分数阶导数方程建模的粘弹性组织上的性能。此外，我们提出了一种使用整数形式化过程的新型控制器，该控制器适用于这些组织特性。仿真结果表明，当将为弹性目标对象设计的传统控制器应用于粘弹性组织时，在力控制和临场感方面的性能会变差。相比之下，结果表明我们提出的控制器在粘弹性组织上保持了其性能。
