Stability and Transparency Analysis of a Haptic Feedback Controller for Medical Applications

Walid Zarrad 1 Philippe Poignet 1 Rui Cortesão 2 Olivier Company 3
1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 ISR-UC - Institute of Systems and Robotics
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents the performance analysis of a haptic feedback teleoperation system for robotic-assisted surgery. Through a haptic device, the surgeon tele-operates the medical instrument, fixed on a remote robot that may evolve in free space or in contact. In free space, the surgeon feels the motion of the robot. When contact with tissues occurs, an on-line environment stiffness estimation is performed using an Extended Kalman Filter with robot modeling error compensation and without considering the contact position. The quality of the telepresence will depend on this estimation. Based on the stability and transparency frequency analysis, the estimated parameter is used to tune the teleoperation scheme and to improve telepresence. The improvement is based on the stability of the haptic feedback teleoperation scheme new rearrangement in which we distinguish between voluntary and involuntary operator positions.
Keywords : Active Observer Haptics Stiffness estimation Telepresence Medical robotics
Type de document :
Communication dans un congrès
CDC'07: International Conference on Decision and Control, Dec 2007, New Orleans, LA, USA, IEEE, pp.5767-5772, 2007
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00202630
Contributeur : Walid Zarrad <>
Soumis le : lundi 7 janvier 2008 - 15:14:19
Dernière modification le : jeudi 24 mai 2018 - 15:59:21

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  • HAL Id : lirmm-00202630, version 1

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DEXTER | LIRMM | TDS-MACS | MIPS | UNIV-MONTPELLIER

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Walid Zarrad, Philippe Poignet, Rui Cortesão, Olivier Company. Stability and Transparency Analysis of a Haptic Feedback Controller for Medical Applications. CDC'07: International Conference on Decision and Control, Dec 2007, New Orleans, LA, USA, IEEE, pp.5767-5772, 2007. 〈lirmm-00202630〉

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