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Force Sensations of Delayed Telerobotic System with Kalman Filter | IEEE Conference Publication | IEEE Xplore

Force Sensations of Delayed Telerobotic System with Kalman Filter


Abstract:

The transparency of a telerobotic system indicates a measure of how the human feels the remote system. Haptic perception plays a very important role in improving such sys...Show More

Abstract:

The transparency of a telerobotic system indicates a measure of how the human feels the remote system. Haptic perception plays a very important role in improving such system transparency. It enables the operator to feel the environment properties, evaluate object structures, and allow him/her to commit appropriate force control actions for safe manipulation. However, the typical approach to acquire remote contact forces is attaching force sensors on slave robot tip. This complicates system structure, makes delayed system unstable and makes the tool bulky. This paper presents formulation and application of an estimation approach based on Kalman filter for control of master slave robots contacting with unknown environment. A Kalman filter based estimator has been designed to estimate the driving current and rotation speed of the joint actuator. The feasibility of using motor current to estimate tool-environment contact forces is explored. Experimental results are presented, which demonstrate stable behavior of the telerobotic system with communication delay contact with remote environment.
Date of Conference: 27-31 December 2021
Date Added to IEEE Xplore: 28 March 2022
ISBN Information:
Conference Location: Sanya, China

I. Introduction

Haptic sensations are essential for many teleoperation tasks. Minimally invasive surgery is an emerging field for such telerobotics systems. Such teleoperated surgical robot systems offer surgeons magnified 3D HD vision, various surgical instruments with better dexterity than human hand and enhanced ergonomics [1]–[3]. However, one current concern is the lack of force feedback or haptic (touch) sensation available to the surgeon for safe tissue manipulation, making it possible for a surgeon to cause tissue damage by inadvertently applying excessive force to tissue. The surgeons base such crucial medical decisions on their perception and differentiation of the tissue’s stiffness [4]. Stress injury from surgical forceps may result in pathological scar tissue formation, bleeding, adhesions and loss of bowel motility [5], And organs manipulated during MIS surgery without haptic feedback that may be injured include liver, small bowel and ureter. The lack of haptic feedback is regarded as a limiting factor in existing master-slave surgical robot system [6]–[9].

References

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