Heartbeat Synchronization With Haptic Feedback for Telesurgical Robot

Motion-canceling bilateral control, a teleoperation method, is proposed and implemented for telesurgical robots. Telesurgical robots have difficulty in achieving control owing to a lack of haptic feedback and the beating motion of organs. Hence, this study aims to provide a surgeon with the means for feeling the tactile sensation of the remote organ, as well as synchronizing with its motion. Therefore, a surgeon can treat the target using a master robot as if the organ is not moving even though it actually moves. The proposed method basically consists of acceleration-based bilateral control to achieve haptic feedback, and visual servoing is used to compensate for organ motion. The frequency characteristics and root locus of the proposed method are analyzed to evaluate its performance and stability, respectively. The proposal is validated through experiments using telesurgical forceps robots.

[1]  Yuichi Matsumoto,et al.  An analysis and design of bilateral control based on disturbance observer , 2003, IEEE International Conference on Industrial Technology, 2003.

[2]  Kouhei Ohnishi,et al.  Motion control for advanced mechatronics , 1996 .

[3]  Yuichi Matsumoto,et al.  Modeling of Force Sensing and Validation of Disturbance Observer for Force Control , 2007, IEEE Transactions on Industrial Electronics.

[4]  Catherine E. Lewis,et al.  Tactile Feedback Induces Reduced Grasping Force in Robot-Assisted Surgery , 2009, IEEE Transactions on Haptics.

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

[6]  Edouard Laroche,et al.  Active Stabilization for Robotized Beating Heart Surgery , 2011, IEEE Transactions on Robotics.

[7]  Kiyoshi Ohishi,et al.  Sensorless Force Control for Injection Molding Machine Using Reaction Torque Observer Considering Torsion Phenomenon , 2009, IEEE Transactions on Industrial Electronics.

[8]  Yoshihiko Nakamura,et al.  Heartbeat synchronization for robotic cardiac surgery , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[9]  L. Alonso Sanchez,et al.  The impact of interaction model on stability and transparency in bilateral teleoperation for medical applications , 2012, 2012 IEEE International Conference on Robotics and Automation.

[10]  Steven E. Butner,et al.  Transforming a surgical robot for human telesurgery , 2003, IEEE Trans. Robotics Autom..

[11]  Doo Yong Lee,et al.  Gain-Scheduling Control of Teleoperation Systems Interacting With Soft Tissues , 2013, IEEE Transactions on Industrial Electronics.

[12]  Chin-Hsing Kuo,et al.  Kinematic design considerations for minimally invasive surgical robots: an overview , 2012, The international journal of medical robotics + computer assisted surgery : MRCAS.

[13]  Luc Soler,et al.  Active filtering of physiological motion in robotized surgery using predictive control , 2005, IEEE Transactions on Robotics.

[14]  Alfonso Baños,et al.  Reset Control for Passive Bilateral Teleoperation , 2011, IEEE Transactions on Industrial Electronics.

[15]  K. Ohnishi,et al.  Reproducibility and operationality in bilateral teleoperation , 2004, The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04..

[16]  Kouhei Ohnishi,et al.  Frequency-Domain Damping Design for Time-Delayed Bilateral Teleoperation System Based on Modal Space Analysis , 2013, IEEE Transactions on Industrial Electronics.

[17]  Ferdinando A. Mussa-Ivaldi,et al.  Perception and Action in Teleoperated Needle Insertion , 2011, IEEE Transactions on Haptics.

[18]  Parvati Dev,et al.  End-to-end performance measurement of Internet based medical applications , 2002, AMIA.

[19]  Kiyoshi Ohishi,et al.  Estimation of Action/Reaction Forces for the Bilateral Control Using Kalman Filter , 2012, IEEE Transactions on Industrial Electronics.

[20]  Takahiro Nozaki,et al.  Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer , 2014, IEEE Transactions on Industrial Electronics.

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

[22]  Robert D. Howe,et al.  Position Control of Motion Compensation Cardiac Catheters , 2011, IEEE Transactions on Robotics.

[23]  Charles R. Phillips,et al.  Digital control system analysis and design , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[24]  Daisuke Yashiro,et al.  Performance Analysis of Bilateral Control System With Communication Bandwidth Constraint , 2011, IEEE Transactions on Industrial Electronics.

[25]  Toshiyuki Murakami,et al.  Torque sensorless control in multidegree-of-freedom manipulator , 1993, IEEE Trans. Ind. Electron..

[26]  Mahdi Tavakoli,et al.  High-Fidelity Bilateral Teleoperation Systems and the Effect of Multimodal Haptics , 2007, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[27]  Volkmar Falk,et al.  Limitations for manual and telemanipulator-assisted motion tracking--implications for endoscopic beating-heart surgery. , 2003, The Annals of thoracic surgery.

[28]  Takahiro Nozaki,et al.  Development of 16-DOF telesurgical forceps master/slave robot with haptics , 2010, IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society.

[29]  Philippe Zanne,et al.  Robotic Assistance to Flexible Endoscopy by Physiological-Motion Tracking , 2011, IEEE Transactions on Robotics.

[30]  Hideki Hashimoto,et al.  Effect of Impedance-Shaping on Perception of Soft Tissues in Macro-Micro Teleoperation , 2012, IEEE Transactions on Industrial Electronics.

[31]  Blake Hannaford,et al.  The Effect of Interaction Force Estimation on Performance in Bilateral Teleoperation , 2012, IEEE Transactions on Haptics.

[32]  Yili Fu,et al.  Development of a medical robot system for minimally invasive surgery , 2012, The international journal of medical robotics + computer assisted surgery : MRCAS.

[33]  Takahiro Nozaki,et al.  Transparency analysis of motion canceling bilateral control under sensing constraints , 2012, 2012 12th IEEE International Workshop on Advanced Motion Control (AMC).