Model-based passivity control for bilateral teleoperation of a surgical robot with time delay

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2008, Pages 1427-1432

  Kawashima, Kenji ^a   Tadano, Kotaro ^a   Sankaranarayanan, Ganesh ^b   Hannaford, Blake ^b  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

^b University of Washington   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BILATERAL CONTROL; BILATERAL TELEOPERATION; COMMUNICATION LINES; MINIMALLY INVASIVE; MODEL-BASED; NEW MODEL; PASSIVITY CONTROL; SURGICAL ROBOTS; TACTILE SENSATION; TIME DOMAIN;

INTELLIGENT ROBOTS; PASSIVATION;

DELAY CONTROL SYSTEMS;

EID: 69549124444     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4650684     Document Type: Conference Paper

References (19)

1. R.H.Taylor and D.Stioianovici, Medical Robotics in Computer-Integrated Surgery, IEEE Trans. on Robotics and Automation, Vol.19, No.5, 2003, pp.765-780
2. M.Ferre, M.Buss, R.Aracil, C.Melchiorri, C.Balaguer, Advances in Telerobotics, Springer-Verlag, 2007
3. O.Gerovichev, P.Marayong, AM, Okamura, The Effect of Visual and Haptic Feedback on Computer-Assisted Needle Insertion, Computer-Aided Surgery, Vol.9, No.6, 2004, pp.243-249 (Pubitemid 41323414)
4. J.T.Dennerlein, D.B.Martin and H. Zak, Haptic Force-Feedback Devices for the Office Computer: Performance and Musculoskeletal Loading Issues, Human Factors, vol.43, No.2,1996, pp.278-286 (Pubitemid 32906168)
5. R.J.Anderson, M.W.Spong, Bilateral Control of Teleoperation with Time Delay, IEEE Transaction on Automatic Control, Vol.34, 1989, No.5, pp.494-501
6. G.Niemeyer,J.J.E.Slotine, Stable Adaptive Teleoperation, IEEE Journal of Oceanic Engineering, Vol.16, No.1, 1991, pp.152-162
7. K.Kosuge, H.Murayama, K.Takeo, Bilateral Feedback Control of Telemanipulators via Computer Network, Proc. of the 1996 IEEE/RSJ IROS, Vol.3, 1998, pp.1380-1385
8. S.Munir and W.Book, Internet-Based Teleoperation Using Wave Variable With Prediction, IEEE Trans. on Mechatronics, Vol.7, No.2, 2002, pp.124-133
9. Y.Yokokohji, T. Imaida, T.Yoshikawa, Bilateral Teleoperation under Time-Varying Communication Delay, Proc. of the IEEE/RSJ IROS 1999, Vol.3, pp.1854-1859 (Pubitemid 30577908)
10. K.Natori, T.Tsuji, K.Ohnishi, Time Delay Compensation by Communication Disturbance Observer in Bilateral Teleoperation Systems, Proc. of IEEE AMC 2006, pp.218-223 (Pubitemid 44753234)
11. B.Hannaford, J.H. Ryu, Time-Domain Passivity Control of Haptic Interfaces, IEEE Transaction on Robotics and Automations, Vol.18, No.1, 2002, pp.1-10 (Pubitemid 34414680)
12. A.Iqbal, H.Roth, Predictive Time Domain Passivity Control For Delayed Teleoperation Using Energy Derivatives, Proc. of IEEE ICARV 2006
13. W.S.Kim and A.K.Bejczy, Demonstration of a High-Fidelity Predictive/Preview Display Technique for Telerobotic Servicing in Space, IEEE Trans. Robotics and Automation, Vol.9, No.5, 1993, pp.649-663
14. Y.Tsumaki and M.Uchiyama, A Model-Based Space Teleoperation System with Robustness against Modeling Errors, Proc. of the 1997 IEEE ICRA, pp.1594-1599
15. Y.C.Fung, Biomechanics: Mechanical Properties of Living Tissues, Second Ed. Springer-Verlag, 1993
16. J.D.Brown, In-Vivo and Postmortem Biomechanics of Abdominal Organs under Compressive Loads: Experimental Approach in a Laparoscopic Surgery Setup, PhD thesis, University of Washington, 2003
17. Y.Yokokohji and Y.Yoshikawa, Bilateral Control of Master-Slave Manipulators for Ideal Kinesthetic Coupling, IEEE Trans. on Robotics and Automation, Vol.10, No.5, 1994,pp605-620
18. B.Hannaford, Design framework for teleoperations with kinematic feedback, IEEE Tanas, on Robotics and Automation, Vol.5, 1998, pp.426-434
19. K.Tadano and K.Kawashima, Development of 4-DOFs Forceps with Force Sensing using Pneumatic Servo System, Proc. of IEEE/ICRA, 2006, pp.2250-2256