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
Document type :
Conference papers
Complete list of metadatas
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00202630
Contributor : Walid Zarrad <>
Submitted on : Monday, January 7, 2008 - 3:14:19 PM
Last modification on : Thursday, December 6, 2018 - 3:06:02 PM

Identifiers

  • HAL Id : lirmm-00202630, version 1

Collections

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

Citation

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, pp.5767-5772. ⟨lirmm-00202630⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

131

Contact

Informations

CCSD