Haptics for teleoperated surgical robotic systems:
Gespeichert in:
| Format: | Buch |
|---|---|
| Sprache: | English |
| Veröffentlicht: |
New Jersey [u.a.]
World Scientific
2008
|
| Schriftenreihe: | 1
1 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XIX, 158 S. Ill., graph. Darst. |
| ISBN: | 9789812813152 |
Internformat
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| 245 | 1 | 0 | |a Haptics for teleoperated surgical robotic systems |c M. Tavakoli ... |
| 264 | 1 | |a New Jersey [u.a.] |b World Scientific |c 2008 | |
| 300 | |a XIX, 158 S. |b Ill., graph. Darst. | ||
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Datensatz im Suchindex
| _version_ | 1804143560994324480 |
|---|---|
| adam_text | Titel: Haptics for teleoperated surgical robotic systems
Autor: Tavakoli, Mahdi
Jahr: 2008
Contents
Preface vii
List of Figures xv
List of Tables xix
1. Introduction 1
1.1 Robot-Assisted Intervention: Benefits and Applications . 1
1.2 Robotics Technology for Surgery and Therapy 2
1.2.1 Augmenting devices and systems 2
1.2.2 Supporting devices and systems 7
1.3 Haptics for Robotic Surgery and Therapy 9
1.3.1 Haptic user interface technology 9
1.3.2 Haptic surgical teleoperation 11
1.4 Technological Challenges of the Future 12
2. Sensorized Surgical Effector (Slave) 13
2.1 Introduction 13
2.1.1 Limitations of endoscopic surgery 13
2.1.2 The need for robot-assisted surgery 14
2.1.3 Significance of haptic perception in master-slave
operation 15
2.1.4 Perceptual-motor skills study 17
2.2 Methods, Materials and Results 18
2.2.1 Force reflection methods 19
2.2.2 Design requirements 20
2.2.3 Twist and tip motions 21
xi
xii Haptics for Teleoperated Surgical Robotic Systems
2.2.4 Interaction measurement 24
2.3 Discussion 27
2.4 Concluding Remarks 29
3. Haptic User Interface (Master) 31
3.1 Introduction 31
3.1.1 Computer-assisted endoscopic surgery training . . 31
3.2 Haptic User Interface Architecture 33
3.2.1 Force reflection in pitch, yaw and insertion .... 34
3.2.2 Force reflection in roll and gripping 35
3.3 Analysis of the Haptic Interface 37
3.3.1 Sensitivity 39
3.3.2 Workspace 40
3.3.3 Force reflection capability 43
3.4 Concluding Remarks 46
4. Unilateral Teleoperation Control 47
4.1 Introduction 47
4.1.1 Direct inverse dynamics control 48
4.1.2 Feedback error learning control 48
4.2 PHANToM Inverse Dynamics Identification 49
4.3 Adaptive Inverse Dynamics Trajectory Control of the
PHANToM 51
5. Bilateral Teleoperation Control 5o
5.1 Introduction 55
5.2 Stability and Transparency in Haptic Teleoperation .... 55
5.2.1 2-channel architectures 58
5.2.2 4-channel architecture 62
5.3 Haptic Teleoperation Experiments 69
5.3.1 Experimental setup 69
5.3.2 Master-slave communication 69
5.3.3 Observation of hand forces 70
5.3.4 Observer and controller gains 72
5.3.5 Soft-tissue palpation tests 72
5.4 Concluding Remarks 78
6. Substitution for Haptic Feedback 81
xiv Haptics for Teleoperated Surgical Robotic Systems
C.I Forward kinematics 131
C.2 Inverse kinematics 131
C.3 Manipulator Jacobian 132
C.4 Dynamics 133
Appendix D 1-DOF Master System Modeling and Identification 135
D.I Dynamic modeling 135
D.2 Parametric identification 136
Appendix E Virtual Reality Peripheral Network 139
Appendix F t-Test and ANOVA 143
Bibliography 145
Index 157
List of Figures
1.1 A block diagram of the Zeus system from Intuitive Surgical. Inc. C
1.2 (a) The PHANToM® Premium 1.5/6DOF of Sensable Tech¬
nologies Inc., (b) the Freedom-6S of MPB Technologies Inc.. (c)
the Laparoscopic Surgical Workstation of Immersion Corp.. and
(d) the Xitact IHP of Xitact SA 10
2.1 (a) The overall end effector including the wrist, twist motor and
tip actuation assembly, (b) details of the tip actuation assem¬
bly: the three tubes and two different detachable tips, (c) an
exploded view of (a), and (d) a section view of (b). In (c) and
(d): (1) tip, (2) outer tube, (3) middle tube, (4) inner tube, (5)
load cell, (6) linear motor, (7) outer housing, (8) twist motor.
and (9) free wrist 22
2.2 Surgical grasper mechanism and a close-up 23
2.3 The ratio of axial and tip forces vs. the jaw angle 25
2-4 (a) load cell to find tip forces, (b) gauges to measure bending
moments, (c) gauges to measure the axial forces, and (d) gauge
to measure the torsional moment 2-r
2.5 The experimental V - fz data points for the four experiments
(plus, cross, triangle, circle) and the least-squares linear fit (solid
line) during tension 27
2.6 The remote center of motion (RCM) created by (a) the da Vinci
and (b) the Neurobot © 2002 IEEE 28
2.7 The slave subsystem of a master-slave test-bed for a minimally
invasive surgery environment 30
3.1 Haptic user interface for endoscopic interventions 35
XV
Contents xiii
6.1 Introduction 81
6.2 Graphical Substitution for Haptic Feedback 84
6.2.1 Case study: Lump localization task 84
6.3 Multi-Modal Contact Cues 89
6.3.1 Case study: Tissue stiffness discrimination Task . 90
6.4 Concluding Remarks 95
7. Bilateral Teleoperation Control Under Time Delay 97
7.1 Introduction 97
7.2 Passivity and Absolute Stability 99
7.2.1 Passivity-based time delay compensation 99
7.3 2-Channel Architectures 102
7.3.1 Admittance-type configurations 102
7.3.2 Hybrid-type configurations 105
7.4 4-Channel Architecture 106
7.4.1 Delay-free case 106
7.4.2 Wave-based 4-channel architecture 108
7.4.3 Transparency considerations 110
7.4.4 3-channel architecture 112
7.5 Experimental Performance Evaluation 112
7.6 Concluding Remarks 118
Appendix A Mechanical Description of the Slave 121
A.I Fulcrum 121
A.2 Laparoscopic instrument assembly 121
A.3 The motor and encoder for the roll direction 122
A.4 2-DOF gimbals assembly 122
A.5 PHANToM haptic device 122
Appendix B Mechanical Description of the Master 125
B.I Fulcrum 125
B.2 Instrument shaft 125
B.3 Force-reflecting finger loops 126
B.4 Force reflection in the roll direction 126
B.5 PHANToM haptic device 126
Appendix C Kinematics and Dynamics of the PHA.NToM
Haptic Device l^1
xvi Haptics for Teleoperated Surgical Robotic Systems
3.2 Single-DOF force reflection in (a) the finger loops, and (b) the
roll mechanism 36
3.3 The sketch of the haptic interface 39
3.4 The haptic interface and the x = 0, y = 0 and 2 = 0 planes at the
instrument endpoint. Only a simplified view of the PHANToM
device is shown 41
3.5 Maximum normalized force feedback error (rj) percentage per 1°
angle offset (S) at each point within the workspace: x = 0 plane
(solid), y = 0 plane (dashed) and z = 0 plane (dotted) - the
distances are in meters 42
3.6 (a) GCI versus 6 2min and 03min (the lower bounds of the in¬
tegrals on 62 and #3) when the integral upper bounds are
02max = #3max = 90° and hlh = 0.96, and (b) GCI versus
£2 /£i when 02min = 03min = 0 and 6 2max = 03max =90° 44
3.7 Manipulability of the haptic interface at each point in the
workspace - the distances are in meters 45
3.8 Maximum force feedback for a unit torque at each point within
the workspace -¦ the distances are in meters and forces are in
Newtons 46
4.1 (a) Direct inverse dynamics control (top), and (b) feedback error
learning control (bottom) 49
4.2 Inverse dynamics model identification of the PHANToM robot. 51
4.3 Master and slave positions in feedback error learning control. . 52
4.4 From top to bottom: (a) Master and slave positions and position
error in feedback error learning control in the presence of a dis¬
turbance, and (b) adaptation of a weight from the hidden layer
to the output layer s fy unit with and without the additional
mass 54
5.1 Equivalent circuit representation of a teleoperation system. . . 56
5.2 (a) Position-error based, (b) direct force reflection, and (c) 4-
channel bilateral control architectures. The shaded blocks rep¬
resent control components 59
5.3 A generalized description of a bilateral teleoperation system in
terms of scattering parameters 63
5.4 Root loci of the poles of the 4CH teleoperation system with
- = -1 when -1 C6 0 and C5 = 1,0, -1 66
List of Figures xvii
5.5 The transparency transfer function magnitude for one-way de¬
lays Td = 15 msec (top) and Td = 150 msec (bottom) 68
5.6 Master-slave experimental setup 70
5.7 Master-slave communication 71
5.8 Position and force profiles for the PEB teleoperation system. . 73
5.9 Position and force profiles for the DFR teleoperation system. . 74
5.10 Magnitudes of the hybrid parameters for the 2CH teleoperation
systems (solid: PEB, dashed: DFR) 74
5.11 Position and force profiles for the 3CH teleoperation system with
C3 = 0 and C5 = -1 75
5.12 Position and force profiles for the 4CH teleoperation system with
C-i = 0.5 and C5 = -0.5 (4CH-1) 76
5.13 Position and force profiles for the 4CH teleoperation system with
C3 = 1 and C5 = 0 (4CH-2) 77
5.14 Magnitudes of the hybrid parameters for 4CH teleoperation sys¬
tems (solid: 3CH, dash-dot: 4CH-1, dashed: 4CH-2) 77
5.15 Position profiles for (a) DFR and (b) 3CH teleoperation systems
under hard contact 78
6.1 Visual substitution/augmentation for haptic feedback 83
6.2 Master-slave setup for performing telemanipulated lump local¬
ization 85
6.3 (a) Mean detected lump position (rad); (b) mean exploration time
(sec); (c) mean energy supplied to the tissue (Joule) 8/
6.4 Master-slave setup for performing telemanipulated tissue stiff¬
ness discrimination task ^
6-5 (a) Mean success rate; (b) mean completion time (sec); (c) mean
energy supplied to the tissue (Joule) ^3
7.1 Wave-based delay compensated 2CH position error based tele-
operator 1()1
7-2 (a) Admittance-type and (b) hybrid-type delay-compensated
communication channels 2
7.3 Wave-based admittance-type teleoperatiou systems: (a) APEB:
(b) AKFB 10;i
7.4 Wave-based hybrid-type teleoperation systems: (a) HPEB: (b)
HKFB 1()7
7.5 4CH bilateral teleoperation system without time delay 107
7-6 Wave-based 4CH teleoperation system 10S
xviii Haptics for Teleoperated Surgical Robotic Systems
7.7 Position and force tracking profiles for the 2CH position error
based (PEB) teleoperation architecture with a round-trip delay
of 200 ms 113
7.8 Position and force tracking profiles for the 2CH direct force re¬
flection (DFR) teleoperation architecture with a round-trip de¬
lay of 200 ms 114
7.9 Magnitudes of the hybrid parameters for the PEB and DFR
architectures with a round-trip delay of 200 ms (dashed: PEB;
solid: DFR) 115
7.10 Position and force tracking profiles for the wave-based 4CH tele¬
operation architecture with a round-trip delay of 200 ms. ... 116
7.11 Position and force tracking profiles for the wave-based 3CH tele¬
operation architecture with a round-trip delay of 200 ms. ... 117
7.12 Magnitudes of the hybrid parameters for the wave-based 4CH
and 3CH architectures with a round-trip delay of 200 ms
(dashed: 4CH; solid: 3CH) 118
A.I The slave subsystem 123
B.I The master subsystem 127
B.2 The base and the fulcrum 128
B.3 The force-reflecting finger loops 128
B.4 Two views of the mechanism for force reflection in the roll di¬
rection 129
C.I The PHANToM manipulator. Dashed lines show the home con¬
figuration 132
D.I The master handle 136
List of Tables
2.1 Grasper tip parameter estimates 23
2.2 Voltage vs. axial force relationship parameter estimates 26
3.1 Specifications of the motor in the single-DOF haptic devices. . 37
3.2 GCIs for two orientations of the PHANToM 43
5.1 The 4-channel architecture versus several simpler architectures. 62
D.I Identified master model parameters 137
xix
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| illustrated | Illustrated |
| indexdate | 2024-07-09T22:49:37Z |
| institution | BVB |
| isbn | 9789812813152 |
| language | English |
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| series2 | New frontiers in robotics |
| spelling | Haptics for teleoperated surgical robotic systems M. Tavakoli ... New Jersey [u.a.] World Scientific 2008 XIX, 158 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier New frontiers in robotics 1 Chirurgie (DE-588)4009987-8 gnd rswk-swf Telemanipulator (DE-588)4513105-3 gnd rswk-swf Tastwahrnehmung (DE-588)4184494-4 gnd rswk-swf Chirurgie (DE-588)4009987-8 s Telemanipulator (DE-588)4513105-3 s Tastwahrnehmung (DE-588)4184494-4 s DE-604 Tavakoli, Mahdi Sonstige oth 1 1 (DE-604)BV036954057 1 HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020777009&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Haptics for teleoperated surgical robotic systems 1 Chirurgie (DE-588)4009987-8 gnd Telemanipulator (DE-588)4513105-3 gnd Tastwahrnehmung (DE-588)4184494-4 gnd |
| subject_GND | (DE-588)4009987-8 (DE-588)4513105-3 (DE-588)4184494-4 |
| title | Haptics for teleoperated surgical robotic systems |
| title_auth | Haptics for teleoperated surgical robotic systems |
| title_exact_search | Haptics for teleoperated surgical robotic systems |
| title_full | Haptics for teleoperated surgical robotic systems M. Tavakoli ... |
| title_fullStr | Haptics for teleoperated surgical robotic systems M. Tavakoli ... |
| title_full_unstemmed | Haptics for teleoperated surgical robotic systems M. Tavakoli ... |
| title_short | Haptics for teleoperated surgical robotic systems |
| title_sort | haptics for teleoperated surgical robotic systems |
| topic | Chirurgie (DE-588)4009987-8 gnd Telemanipulator (DE-588)4513105-3 gnd Tastwahrnehmung (DE-588)4184494-4 gnd |
| topic_facet | Chirurgie Telemanipulator Tastwahrnehmung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020777009&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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| work_keys_str_mv | AT tavakolimahdi hapticsforteleoperatedsurgicalroboticsystems |