Stability and Transparency Analysis of a Haptic Feedback Controller for Medical Applications - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2007

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

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.

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Dates and versions

lirmm-00202630 , version 1 (07-01-2008)

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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 2007 - 46th IEEE Conference on Decision and Control, Dec 2007, New Orleans, LA, United States. pp.5767-5772, ⟨10.1109/CDC.2007.4434677⟩. ⟨lirmm-00202630⟩
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