Force-feedback augmentation modes in the laparoscopic minimally invasive telesurgical system
Force-feedback augmentation modes in the laparoscopic minimally invasive telesurgical system
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DOI：
10.1109/tmech.2007.901968
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发表时间：
2007-08-01
影响因子：
6.4
通讯作者：
Pitakwatchara, Phongsaen
中科院分区：
文献类型：
--
作者：
Mitsuishi, Mamoru;Sugita, Naohiko;Pitakwatchara, Phongsaen
对主/从式双臂手术机械手系统进行了比例积分（PI）增益调度全力反馈控制（3个平移自由度和1个抓取自由度）。增益调度算法为操作者提供最大允许力感知，同时保持系统在不同环境下操作的稳定性。这也是一种科普电机饱和引起的不稳定性的方法。局部力反馈配置除了精确显示相互作用力之外，还自然地补偿了主操纵器的固有惯性。已经观察到，在手术期间，外科医生通常需要集中在某些方向上的力而不是其他方向。此外，腹部腹腔镜手术中涉及的器官往往产生非常小的初始反作用力，这可能难以察觉。考虑到所执行的任务和组织的力学特性，这些方向上的反作用力将被放大，而其他方向上的反作用力将被正常发送。已经准备了七种力反馈增强模式。已开发的切换算法，自动改变适当的位置和力信号的增强模式。因此，外科医生可以更专注于手术任务。
The proportional-integral (PI) gain-scheduling full-force-feedback control (three translational and one grasping degrees of freedom) on the dual-arm master/slave telesurgical manipulator system has been implemented. Gain scheduling algorithm provides the operator with maximum-allowable force perception, while retaining the stability of system manipulation with different environments. It is a way to cope with the instability caused by the motor saturation as well. Local force-feedback configuration naturally compensates for the inherent inertia of the master manipulator in addition to precise display of the interaction force. It has been observed that, during the operation, the surgeon often needs to concentrate on force in some directions than others. Also, the organs involved in the abdominal laparoscopic surgery tend to yield very small initial reaction force, which might be difficult to perceive. With the consideration of the performed task and tissue mechanical properties, the reaction force in those directions will be amplified while the others will be sent normally. Seven force-feedback augmentation modes have been prepared. A switching algorithm has been developed to automatically change the augmentation mode appropriately according to the position and force signals. The surgeon can, thus, focus more on the operation task.