Guo Jing, Liu Chao, Poignet Philippe
Annu Int Conf IEEE Eng Med Biol Soc. 2014;2014:361-5. doi: 10.1109/EMBC.2014.6943604.
Miniaturized surgical robotic system presents promising trend for reducing invasiveness during operation. However, cables used for power and communication may affect its performance. In this paper we chose Zigbee wireless communication as a means to replace communication cables for miniaturized surgical robot. Nevertheless, time delay caused by wireless communication presents a new challenge to performance and stability of the teleoperation system. We proposed a bilateral wireless teleoperation architecture taking into consideration of the effect of position-force scaling between operator and slave. Optimal position-force tracking performance is obtained and the overall system is shown to be passive with a simple condition on the scaling factors satisfied. Simulation studies verify the efficiency of the proposed scaled wireless teleoperation scheme.
小型化手术机器人系统在降低手术侵入性方面呈现出有前景的趋势。然而，用于供电和通信的线缆可能会影响其性能。在本文中，我们选择Zigbee无线通信作为替代小型化手术机器人通信线缆的一种方式。尽管如此，无线通信引起的时间延迟给远程操作系统的性能和稳定性带来了新的挑战。我们提出了一种双边无线遥操作架构，考虑了主从操作手之间位置 - 力比例缩放的影响。获得了最优的位置 - 力跟踪性能，并且在满足关于比例因子的一个简单条件下，整个系统被证明是无源的。仿真研究验证了所提出的比例缩放无线遥操作方案的有效性。
