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

Abdulrahman Albakri 1, * Chao Liu 1 Philippe Poignet 1
* Auteur correspondant
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.
Type de document :
Communication dans un congrès
IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. IEEE/RSJ, pp.456-462, 2013, 〈10.1109/IROS.2013.6696391〉
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00963642
Contributeur : Chao Liu <>
Soumis le : vendredi 21 mars 2014 - 16:07:18
Dernière modification le : mercredi 5 septembre 2018 - 10:54:01

Identifiants

Collections

Citation

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. IEEE/RSJ, pp.456-462, 2013, 〈10.1109/IROS.2013.6696391〉. 〈lirmm-00963642〉

Partager

Métriques

Consultations de la notice

180