Development of a Variable-Scale Teleoperation System for Micro Surgery

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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.