Application of a Nonlinear Hammerstein-Wiener Estimator in the Development and Control of a Magnetorheological Fluid Haptic Device for Robotic Bone Biopsy

Abstract

A force generator module (FGM) based on magnetorheological fluid (MRF) was developed to provide force-feedback information for applications in tele-robotic bone biopsy procedures. The FGM is capable of rapidly re-producing a wide range of forces that are common in bone biopsy applications. As a result of the nonlinear nature of MRF, developing robust controllers for these mechanisms can be challenging. In this paper, we present a case study motivated by robotic bone biopsy. We use a non-linear Hammerstein-Wiener (H-W) estimator to address this challenge. The case is presented through three studies. First, an experiment to develop design constraints is presented and describes biopsy force measurements for various animal tissues. Required output forces were found to range between <1 N and <50 N. A second study outlines the design of the FGM and presents the experimental characterization of the hysteretic behavior of the MRF. This data is then used as estimators and validators to develop the nonlinear Hammerstein-Wiener (H-W) model of the MRF. Validation experiments found that the H-W model is capable of predicting the behavior of the MRF device with 95% accuracy and can eliminate hysteresis in a closed-loop control system. The third study demonstrates the FGM used in a 1-DOF haptic controller in a simulated robotic bone-biopsy. The H-W control tracked the input signal while compensating for magnetic hysteresis to achieve optimal performance. In conclusion, the MRF-based device can be used in surgical robotic operations that require a high range of force measurements.

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

“…Using MRF to simulate the feedback of different environments and to provide operators with real tactile experience are currently hot research topics. In 2018, for surgical robotic applications, a force generator module with MRF was developed to provide force-feedback information (Shokrollahi et al, 2020). The device, shown in Figure 10A, is capable of rapidly re-producing forces generated in tele-robotic bone biopsy procedures and provides a wide range of force measurements.…”

“…The device, shown in Figure 11E, is housed in the lower leg section, whose output shaft is linked to the upper leg section. When the coil current is zero, the leg has a soft FIGURE 10 | (A) MRF haptic device for robotic bone biopsy (Shokrollahi et al, 2020). (B) Multi-direction MRF actuator for haptic applications (Chen D. P. et al, 2019).…”

Linear parameter-varying model for a refuellable zinc–air battery

“…The nonlinear model used for comparison in this work was the Hammerstein–Wiener (HW) model. The HW model is a block-oriented model which contains nonlinear functions and a linear block separately [ 43 , 44 ]. As shown in figure 3 , the HW model is depicted as a series of three connected blocks.…”

UAV Quadrotor Fault Detection and Isolation Using Artificial Neural Network and Hammerstein-Wiener Model

“…With regard to nonlinear subsystems, several solutions can be adopted. The piecewise linear function, the sigmoid network, the Wavelet network and the saturation function can be mentioned (Shokrollahi et al, 2018). In the present work, the piecewise linear function with 10 break points has been chosen for estimating the two nonlinear Hammerstein-Wiener subsystems.…”