Beating-heart robotic surgery using bilateral impedance control: Theory and experiments

It is essential for the diversity of operation targets during the underwater manipulator’s task. The joint friction, the time-varying characteristics of physical parameters, and inaccurate measurement of the dynamic bring trouble of model uncertainty. For these problems, a model reference adaptive impedance controller is proposed to achieve the manipulator flexible operation. The desired impedance model is designed for the outer loop force tracking, and the model reference adaptive impedance controller is employed for the inner loop. At the same time, the adaptive law is designed based on the operation space position and the desired position of the desired impedance model output. To eliminate the time-varying characteristics of physical parameters, a new bounded-gain-forgetting adaptive law is designed to compensate the uncertain error between the manipulator model and estimate model. It is ensured that the closed-loop manipulator dynamic is consistent with the desired impedance model, correspondingly the manipulator end operation force tracking the standard force signal is realized, and the desired position error of the end position of the manipulator to the desired impedance model output asymptotically converges to zero. The simulation experiment of a two-degree-of-freedom manipulator is implemented on the Matlab/Simulink platform. The results show that the designed controller has good force–position tracking asymptotical convergence ability under the uncertain dynamic, and the controller has robustness and stability performance.

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“…Property 4. Depending on the unknown parameters, the dynamic model of the manipulator can be linearized as (Sharifi et al, 2018)…”

Section: System Formationmentioning

confidence: 99%

The model reference adaptive impedance control for underwater manipulator compliant operation

Zhang

Han

Liu

et al. 2023

Transactions of the Institute of Measurement and Control

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“…The aforementioned impedance-controlled systems are developed for handheld medical robotics instead of teleoperated systems. In the work of Cheng (Cheng and Tavakoli, 2018a ; Cheng et al, 2018 , 2019 ) and Sharifi et al ( 2018 ), the model reference adaptive control was applied to the bilateral teleoperation systems separately. The authors designed two reference impedance models for the master and slave robots, respectively.…”

Section: Teleoperation For Organ Motion Compensationmentioning

confidence: 99%

COVID-19 Pandemic Spurs Medical Telerobotic Systems: A Survey of Applications Requiring Physiological Organ Motion Compensation

Cheng

Tavakoli

2020

Front. Robot. AI

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The coronavirus disease 2019 (COVID-19) pandemic has resulted in public health interventions such as physical distancing restrictions to limit the spread and transmission of the novel coronavirus, causing significant effects on the delivery of physical healthcare procedures worldwide. The unprecedented pandemic spurs strong demand for intelligent robotic systems in healthcare. In particular, medical telerobotic systems can play a positive role in the provision of telemedicine to both COVID-19 and non-COVID-19 patients. Different from typical studies on medical teleoperation that consider problems such as time delay and information loss in long-distance communication, this survey addresses the consequences of physiological organ motion when using teleoperation systems to create physical distancing between clinicians and patients in the COVID-19 era. We focus on the control-theoretic approaches that have been developed to address inherent robot control issues associated with organ motion. The state-of-the-art telerobotic systems and their applications in COVID-19 healthcare delivery are reviewed, and possible future directions are outlined.

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“…The last example is in robotic-assisted surgery, where surgical robots, operated remotely by doctors, need to manipulate extremely soft organs and tissues, as in (Sharifi et al, 2018). The difference between operator movements responsible for simply holding an organ or crushing it is subtle, making it difficult to distinguish between them without interaction control.…”

Section: Introductionmentioning

confidence: 99%

Proof of Concept of Impedance Control on a Didactic Manipulator

Rizzi

Antonio

Angélico

2021

Procedings Do XV Simpósio Brasileiro De Automação Inteligente

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Traditionally, the control of manipulators targets position or force tracking and numerous well succeed and high precision solutions have been developed over the last decades. However, for some applications, single force or position control are not efficient, and a specified relationship between both must be imposed. This paper describes the implementation of impedance control technique over a didactic manipulator, as a proof of concept.The performance achieved is limited by the quality and number of axis of force measurement, as well as the quality of actuators.

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Beating-heart robotic surgery using bilateral impedance control: Theory and experiments

Cited by 23 publications

References 34 publications

The model reference adaptive impedance control for underwater manipulator compliant operation

The model reference adaptive impedance control for underwater manipulator compliant operation

COVID-19 Pandemic Spurs Medical Telerobotic Systems: A Survey of Applications Requiring Physiological Organ Motion Compensation

Proof of Concept of Impedance Control on a Didactic Manipulator

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