Virtual torsional spring based bilateral control system for soft manipulation

Madawala, M. K.; Abeykoon, A. M. Harsha S.; Mihiran, B. G. C.; Mohottige, D. C.; Meththananda, R. G. U. I.; Pillai, M. Branesh

doi:10.1109/iccpct.2013.6529008

Cited by 8 publications

(3 citation statements)

References 8 publications

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“…Such reductions are beneficial not only from a clinical efficiency standpoint but also in minimizing the patient's exposure to anesthesia and the risks of prolonged surgical procedures. Moreover, the sensorless based master-slave setup further refines screw placement precision, with cadaveric study feedback suggesting that the system's torque and positional accuracy are comparable to, if not better than, traditional and other robotic-assisted techniques [36] . This high level of precision is critical, particularly in complex cases, where even minor deviations can result in significant complications.…”

Section: Introductionmentioning

confidence: 85%

Sensorless Based Haptic Feedback Integration In Robot-assisted Pedicle Screw Insertion For Lumbar Spine Surgery: A preliminary cadaveric study

Nakdhamabhorn,

Pillai,

Chotivichit

et al. 2024

Computational and Structural Biotechnology Journal

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Section: Introductionmentioning

confidence: 85%

Sensorless Based Haptic Feedback Integration In Robot-assisted Pedicle Screw Insertion For Lumbar Spine Surgery: A preliminary cadaveric study

Nakdhamabhorn,

Pillai,

Chotivichit

et al. 2024

Computational and Structural Biotechnology Journal

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“…provided by "master" and "slave" actuated torques through the tele-operated manipulators, providing equal and opposite torques through the human operator and environment. In order to implement in the control block diagram, the (13) and (14) were adopted from Harsha et al [35]. For master,…”

Section: Virtual Spring Damper Controllermentioning

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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“…It will be a big health issue to the operator as well. In applications like minimal invasive surgeries, the surgeon should feel the reactions occur during a surgery [3]. In a master slave manipulator system, the surgery is done by a slave manipulator.…”

Section: Introductionmentioning

confidence: 99%

Vibration suppression of bilateral control system

Menikdiwela

Harsha

Abeykoon

2014

2014 11th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technolo

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This paper proposes a novel concept of vibration suppression of bilateral control system by first order low pass filters. This will be a huge step of improvement of the transparency of conventional bilateral control system. In a master slave manipulating system, master gives command to the slave and according to the slave responses master commands are varying. So that slave response should always come up without unwanted vibrations. Therefore vibration suppression is more important in motion control. Conventional bilateral control system is suppressed the vibration up to some certain level. The suppressing frequency bandwidth have been pointed out by bode diagrams. Further suppression has been done by placing low pass filter on different places of the conventional block. Then the system block was modified by adding a filter. The results of the disturbance observer filter effects are illustrated by the simulation graphs. The proposed method of additional filter effect is validated by simulation and practical results.

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Virtual torsional spring based bilateral control system for soft manipulation

Cited by 8 publications

References 8 publications

Sensorless Based Haptic Feedback Integration In Robot-assisted Pedicle Screw Insertion For Lumbar Spine Surgery: A preliminary cadaveric study

Sensorless Based Haptic Feedback Integration In Robot-assisted Pedicle Screw Insertion For Lumbar Spine Surgery: A preliminary cadaveric study

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

Vibration suppression of bilateral control system

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