RTOS based embedded controller implementation of a bilateral control system

Abeykoon, A. M. Harsha S.; Pillai, M. Branesh

doi:10.4038/jnsfsr.v42i3.7395

Cited by 6 publications

(2 citation statements)

References 7 publications

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“…All actuators are not operated in this function. The third function, called teleoperation, is a combination of a clutch and actuator, which is a power transmission to robot endeffector, thus operated outside the working area [23,24]. In this robot platform, there are two sides to MU-LapaRobot.…”

Section: Driving Systemmentioning

confidence: 99%

MU-LapaRobot: A Corporative Surgical Robot for Laparoscopic Surgery

Direkwatana¹,

Suthakorn²,

Wilasrussamee³

2020

TOBEJ

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Objective: Development of surgical instrument robot (MU-LapaRobot) for assisting in conventional laparoscopic surgery. Methods: A robot was designed based on instrument movement for a conventional procedure. The mechanism mimics and constrains manipulation movement through the wire-driven transmission. It is flexible for robot end-effector, which has a lightweight and small size. The usability of the robot is passive and active robot tasks with an interconnected driving system. Three main parts of the robot are robot end-effector, transmission, and a driving system. Results: On a robot platform, a parameter for setup is robot posture. The adjustment of robot position and projection of manipulation area is influenced by the accuracy of movement. To verify movement, command and exact movements are measured. Compensation with the control system is improved in order to improve the accuracy of the system. Conclusion: MU-LapaRobot provides surgical instrument manipulation by using wire-driven transmission with an effective system and requires less interference in the conventional operation.

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Section: Driving Systemmentioning

confidence: 99%

MU-LapaRobot: A Corporative Surgical Robot for Laparoscopic Surgery

Direkwatana¹,

Suthakorn²,

Wilasrussamee³

2020

TOBEJ

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“…Bilateral Control Systems works in accordance with action and reaction principle as shown in Figure 1. The operator operates via master device onto the environment through slave device [23][24][25][26]. Operator delegates command to the slave device via master device.…”

Section: Introductionmentioning

confidence: 99%

Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting

Pillai¹,

Wilasrusmee²,

Suthakorn³

2020

IJECE

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During laparoscopic surgeries, primary surgical tool insertion is the demanding and strenuous task. As the surgeon is unaware of the type of the tissue and associated parameters to conduct the insertion, therefore, to ease the procedure, the movement of the surgical tool needs to be controlled. It's the operational capabilities that are to be manipulated to perform a smooth surgery even from a distant location. In this study, a robot system is being introduced for laparoscopic primary surgical tool insertion. It will incorporate a novel observer based dynamic control along with robot assisted bilateral control. Moreover, a virtual spring damper force lock system is introduced through which the slave system will notify the master regarding the target achieved and excessive force. The validation of the proposed control system is experimented with bilaterally controlled MU-LapaRobot. The experiment is comprising 3 cases of bilateral control criteria which are non-contact motion, contact motion, and limit force locking. The results defined the same value for contact and non-contact motion by 0.3N. The results depicted a force error of 3.6% and a position error of 5.8% which validated the proposed algorithm.

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