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Stability and Performance Analysis of Three-Channel Teleoperation Control Architectures for Medical Applications

Abdulrahman Albakri 1, * Chao Liu 1 Philippe Poignet 1
* Corresponding author
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Tele-surgery has been more and more popular in robotassisted medical intervention. Most existing teleoperation architectures for medical applications adopt 2-channel architectures. The 2-channel architectures have been evaluated in literature and it is shown that some architectures, e.g. position-force (P-F), are able to provide the surgeon a reliable haptic sense of the working environment (transparency). However, stability of these P-F architecture is still a considerable concern especially when physiological disturbances exist in the remote environment. P-PF architecture is proved to provide a convenient alternative. With one more channel 3-channel teleoperation architectures present promising options due to their augmented design flexibility. This paper evaluates stability and transparency of general 3-channel bilateral teleoperation control architectures and provides a design framework guidelines to improve the architectures' stability robustness and optimize the transparency. Simulation evaluations are provided to illustrate how the optimal 3-channel teleoperation architecture is chosen for medical applications given their dedicated requirements.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00963642
Contributor : Chao Liu <>
Submitted on : Friday, March 21, 2014 - 4:07:18 PM
Last modification on : Tuesday, March 9, 2021 - 5:09:28 PM

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Abdulrahman Albakri, Chao Liu, Philippe Poignet. Stability and Performance Analysis of Three-Channel Teleoperation Control Architectures for Medical Applications. IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.456-462, ⟨10.1109/IROS.2013.6696391⟩. ⟨lirmm-00963642⟩

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