Hybrid Rate—Admittance Control With Force Reflection for Safe Teleoperated Surgery

Teleoperated surgical systems have great potential to improve the performance of surgeons, and their use has spread worldwide in recent years. However, there are some issues that need to be resolved to make robotic surgery more reliable. For instance, the safety of current teleoperated surgical systems is dependent on the performance of the human operator, but human operators can sometimes commit errors. Therefore, a mechanism to ensure the safety of teleoperated surgery should be developed. This paper presents a hybrid system for rate control and admittance control for use in bilateral teleoperation. The proposed control system autonomously avoids excessive contact forces by switching between the rate control mode and the admittance control mode in a stable manner. The stability of the proposed control scheme was analyzed, and the system was found to be able to keep the contact force within an acceptable range. The performance of the proposed control scheme was verified through simulations and experiments. The results of the experiments and simulations showed that the proposed control scheme makes it possible to avoid excessive contact force in a stable manner.

[1]  Blake Hannaford,et al.  Force-reflection and shared compliant control in operating telemanipulators with time delay , 1992, IEEE Trans. Robotics Autom..

[2]  A. Okamura.  Haptic feedback in robot-assisted minimally invasive surgery , 2009, Current opinion in urology.

[3]  E. Wallen,et al.  Prospective randomized controlled trial of robotic versus open radical cystectomy for bladder cancer: perioperative and pathologic results. , 2010, European urology.

[4]  Mamoru Mitsuishi,et al.  Telesurgery experiment between Japan and Thailand , 2009 .

[5]  W. S. Kim.  Shared compliant control: a stability analysis and experiments , 1990, 1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings.

[6]  Dale A. Lawrence.  Stability and transparency in bilateral teleoperation , 1993, IEEE Trans. Robotics Autom..

[7]  Mamoru Mitsuishi,et al.  Asynchronous force and visual feedback in teleoperative laparoscopic surgical system , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Dongjun Lee,et al.  Passive Bilateral Teleoperation With Constant Time Delay , 2006, IEEE Transactions on Robotics.

[9]  Blake Hannaford,et al.  Plugfest 2009: Global interoperability in Telerobotics and telemedicine , 2010, 2010 IEEE International Conference on Robotics and Automation.

[10]  Keyvan Hashtrudi-Zaad,et al.  Transparent Rate Mode Bilateral Teleoperation Control , 2008, Int. J. Robotics Res..

[11]  Robert D. Howe,et al.  Remote palpation technology , 1995 .

[12]  Yoon Young Choi,et al.  Robotic versus Laparoscopic versus Open Gastrectomy: A Meta-Analysis , 2013, Journal of gastric cancer.

[13]  J. K. Salisbury,et al.  Dexterity enhancement in endoscopic surgery by a computer-controlled mechanical wrist , 1999 .

[14]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1989 .

[15]  Mark A. Murphy,et al.  Free and constrained motion teleoperation via naturally-transitioning rate-to-force control , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[16]  Mamoru Mitsuishi,et al.  A remote surgery experiment between Japan and Thailand over Internet using a low latency CODEC system , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[17]  M. Schijven,et al.  The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review , 2009, Surgical Endoscopy.

[18]  G. Oriolo,et al.  Robotics: Modelling, Planning and Control , 2008 .

[19]  M. Salman,et al.  Use, Cost, Complications, and Mortality of Robotic versus Nonrobotic General Surgery Procedures Based on a Nationwide Database , 2013, The American surgeon.

[20]  Christian Ott,et al.  Unified Impedance and Admittance Control , 2010, 2010 IEEE International Conference on Robotics and Automation.

[21]  Romeo Ortega,et al.  Passivity-based control for bilateral teleoperation: A tutorial , 2011, Autom..

[22]  Robert L. Williams,et al.  NATURALLY-TRANSITIONING RATE-TO-FORCE CONTROL IN FREE AND CONSTRAINED MOTION , 1999 .

[23]  Blake Hannaford,et al.  Time domain passivity control of haptic interfaces , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[24]  Mamoru Mitsuishi,et al.  Hybrid control of master-slave velocity control and admittance control for safe remote surgery , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[25]  A. Morse,et al.  Basic problems in stability and design of switched systems , 1999 .

[26]  Alin Albu-Schäffer,et al.  Direct force reflecting teleoperation with a flexible joint robot , 2012, 2012 IEEE International Conference on Robotics and Automation.

[27]  Alois Knoll,et al.  Haptic Feedback in a Telepresence System for Endoscopic Heart Surgery , 2007, PRESENCE: Teleoperators and Virtual Environments.

[28]  Mark W. Spong,et al.  Bilateral teleoperation: An historical survey , 2006, Autom..

[29]  Christopher R. Wagner,et al.  The Benefit of Force Feedback in Surgery: Examination of Blunt Dissection , 2007, PRESENCE: Teleoperators and Virtual Environments.

[30]  Jean-Jacques E. Slotine,et al.  Stable Adaptive Teleoperation , 1990, 1990 American Control Conference.

[31]  Antonio Frisoli,et al.  Bilateral teleoperation under time-varying delay using wave variables , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.