Scaled Position-Force Tracking for Wireless Teleoperation of Miniaturized Surgical Robotic System

Jing Guo 1 Chao Liu 1 Philippe Poignet 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Miniaturized surgical robotic system presents promising trend for reducing invasiveness during operation. However, cables used for power and communication may affect its performance. In this paper we chose Zigbee wireless communication as a means to replace communication cables for miniaturized surgical robot. Nevertheless, time delay caused by wireless communication presents a new challenge to performance and stability of the teleoperation system. We proposed a bilateral wireless teleoperation architecture taking into consideration of the effect of position-force scaling between operator and slave. Optimal position-force tracking performance is obtained and the overall system is shown to be passive with a simple condition on the scaling factors satisfied. Simulation studies verify the efficiency of the proposed scaled wireless teleoperation scheme.
Type de document :
Communication dans un congrès
EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States. 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.361-365, 2014, Discovering, Innovating, and Engineering Future Biomedicine. 〈http://embc.embs.org/2014/〉. 〈10.1109/EMBC.2014.6943604〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275470
Contributeur : Chao Liu <>
Soumis le : mercredi 17 février 2016 - 15:00:39
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07

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Jing Guo, Chao Liu, Philippe Poignet. Scaled Position-Force Tracking for Wireless Teleoperation of Miniaturized Surgical Robotic System. EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States. 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.361-365, 2014, Discovering, Innovating, and Engineering Future Biomedicine. 〈http://embc.embs.org/2014/〉. 〈10.1109/EMBC.2014.6943604〉. 〈lirmm-01275470〉

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