Stability and performance analysis of three-channel teleoperation control architectures for medical applications

Abstract

Tele-surgery has been more and more popular in robotassisted medical intervention. Most existing teleoperation architectures for medical applications adopt 2-channel architectures. The 2-channel architectures have been evaluated in literature and it is shown that some architectures, e.g. position-force (P-F), are able to provide the surgeon a reliable haptic sense of the working environment (transparency). However, stability of these P-F architecture is still a considerable concern especially when physiological disturbances exist in the remote environment. P-PF architecture is proved to provide a convenient alternative. With one more channel 3-channel teleoperation architectures present promising options due to their augmented design flexibility. This paper evaluates stability and transparency of general 3-channel bilateral teleoperation control architectures and provides a design framework guidelines to improve the architectures' stability robustness and optimize the transparency. Simulation evaluations are provided to illustrate how the optimal 3-channel teleoperation architecture is chosen for medical applications given their dedicated requirements.

Adaptive Controller Design of Pneumatic Teleoperation System

“…The paper started from Lawrence's architecture [5], and built a more general structure that can be used in bilateral teleoperators which provides better force feedback to the operator. General analysis of performance and stability robustness of impedance-impedance 3-channel architectures was presented in [6]. The analysis was targeted for tele-surgery applications on soft tissue, where relatively low frequencies are used, negligible time delay and low impedances exist.…”

A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays

“…In [12], a type of three channel architecture has been applied to multilateral teleoperation with multiple robots. In [13], passivity/ absolute stability and Z-width (transmitted impedance bandwidth) based transparency analyses of all three channel architectures presented in [9]- [11] have been performed. However, it has been shown that it is impossible to guarantee absolute stability of any of the three channel architectures for all frequencies.…”