Development of a Variable-Scale Teleoperation System for Micro Surgery

在这项研究中，我们的目的是开发一个可变规模的双边遥操作系统，可用于显微手术在未来。为此，本文尝试建立变尺度遥操作系统的理论框架，并开发了一个实际的变尺度微遥操作系统。首先分析了位置和力尺度固定的尺度遥操作系统的稳定性。基于H ∞控制理论和线性矩阵不等式，建立了变尺度遥操作系统的设计框架。本文还提出了一种通过引入尺度相关权值来降低控制器保守性的方法，为设计包括变尺度遥操作系统在内的双边主从系统提供了一个基本框架，对于实际变尺度微遥操作系统的开发具有重要意义。重点研究了视觉显示子系统，讨论了当操作者任意改变位置和力缩放时，如何控制从摄像机的位置。研究结果对将来设计变尺度的微遥操作系统具有指导意义。我们还提出了一种新的触觉设备机制，以显示现实的冲击力与任何恢复系数。我们开发了一个实际的原型设备，并证实了所提出的想法的有效性。该设备不仅可用于使用虚拟环境的医疗培训，而且可用于远程手术系统。

In this research, we aimed at developing a variable-scale bilateral teleoperation system that can be used for micro surgery in the future. For this purpose, we tried to establish the theoretical framework for variable-scale teleoperation systems and develop an actual variable-scale micro teleoperation system.We first analyzed the stability of the scaled-teleoperation systems where position and force scaling are fixed. We then established the design framework of the variable-scale teleoperation systems based on the gain scheduling method using H-infinity control theory and linear matrix inequalities (LMIs). We also proposed a method to reduce the conservativeness of the controllers by introducing scale-dependent weightings.It is very significant that we could establish a fundamental framework for designing a broad range of bilateral master-slave systems including variable-scale teleoperation systems.As for the development of the actual variable-scale micro teleoperation system, we focused on the visual display subsystem and discussed how to control the slave camera position when the operator changes position and force scaling arbitrarily. The obtained result could be a good guideline of designing an variable-scale micro teleoperation system in the future. We also proposed a new haptic device mechanism to display realistic impulsive forces with any restitution coefficient. We developed an actual prototype device and confirmed that the validity of the proposed idea. This device could be useful not only for medical training using virtual environment but also for tele-surgery systems.