Transparency and stability analysis of a surgical teleoperator system
Transparency and stability analysis of a surgical teleoperator system
复制标题
手术遥控操作系统的透明度和稳定性分析
DOI：
10.1109/haptic.2003.1191319
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
J. Wikander
中科院分区：
文献类型：
--
作者：
H. Flemmer;J. Wikander
本文讨论了用于敏感颅底手术的三通道遥操作系统的透明性和稳定性问题。基于具有参数不确定性和遥操作者最优透明性条件的组合主人系统设计模型，推导了交互（通信）通道控制器。其中一个交互通道控制器，然后改变，使遥操作机器人闭环系统满足要求的鲁棒性无源性。通过分析H矩阵中所有四个传递函数的增益图来分析遥操作系统的透明性。三通道遥操作被发现具有约90弧度/秒的力反射通道中的带宽，从主速度为低频率，带宽为150弧度/秒的正向通道和一个相对不受外力影响的奴隶的反射力的影响很小。实验结果验证了稳定性分析的理论结果。
This paper discusses transparency and stability issues for a three channel teleoperator system to be used in sensitive skullbase operations. Based on a design model of the combined master human system with parameter uncertainties and teleoperator optimal transparency conditions, the interaction (communication) channel controllers are derived. One of the interaction channel controllers is then altered to make the teleoperator closed loop meet requirements imposed by the robustness property passivity. Transparency of the teleoperator system is analysed by analysing the gain plots of all the four transfer functions in the H-matrix. The three channel teleoperator is found to have a bandwidth of around 90 rad/sec in the force reflection channel, a small influence on the reflected force from the master velocity for low frequencies, a bandwidth of 150 rad/sec in the forward channel and a slave which is relatively unaffected by external forces. The theoretical results from the stability analysis are verified by experimental results.