• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>International Workshop on Medical and Service Robots >Effect of Non-passive Operator on Enhanced Wave-Based Teleoperator for Robotic-Assisted Surgery: First Case Study
【24h】

Effect of Non-passive Operator on Enhanced Wave-Based Teleoperator for Robotic-Assisted Surgery: First Case Study

机译：非无源操作者对机器人辅助手术增强波的琐事的影响：第一个案例研究

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Minimally invasive surgery (MIS) has been advanced by new medical/surgical robotic technologies, aiming to achieve less invasiveness, smaller or even no scar procedures. Miniaturized surgical robot presents promising alternative to better benefit MIS, but considerable constraints including cables for power and communication may degrade its performance. Wireless communication posses great potential to be utilized, however time delay is inevitably introduced which challenges the design of teleoperation system from both stability and transparency point of view. Wave variable based teleoperation provides stable force reflecting teleoperation with arbitrary time delay, but with both compromised position and force tracking performances. Recently we proposed a wave variable compensated structure to improve the position and tracking performance together with energy reservoir based regulators for stability purpose (Guo et al. In: Proceeding European Control Conference (ECC), Linz, pp. 1980-1985 (2015), [23]), but with assumption of passive operator and environment. In this paper, several experiments are conduced to evaluate the passivity of operator using the enhanced wave variable compensated structure, and to study the influence of non-passive behavior conducted by operator to the performance of teleoperation and overall system stability. This first case study shows that non-passive behaviors of operator (such as rigid grasp and trajectory tracking tasks) can inject extra energy into system and may cause stability issues for whole system.
机译：新的医疗/手术机器人技术先进的微创手术（MIS），旨在实现更少的侵入性，更小或甚至没有疤痕程序。小型化的手术机器人提供了有希望的替代方案，以更好的利益MIS，但包括电力和沟通电缆的相当大的限制可能会降低其性能。无线通信可能有很大的潜力，但是不可避免地引入了时间延迟，这挑战了远程化系统的设计，从稳定性和透明度的观点来看。波可变基于基于的遥操作提供稳定的力，反射具有任意时间延迟的遥控，但具有损坏的位置和力跟踪性能。最近，我们提出了一种波变量补偿结构，可以改善基于能量储层的稳定性稳定性调节器的位置和跟踪性能（Guo等人。在：继续欧洲控制会议（ECC），Linz，PP。1980-1985（2015）， [23]），但是假设被动运营商和环境。在本文中，涉及几个实验来评估操作者使用增强波可变补偿结构的杂钝，并研究操作者进行的非被动行为对漫通化和整体系统稳定性的性能的影响。第一种案例研究表明，操作员（例如刚性抓握和轨迹跟踪任务）的非被动行为可以将额外的能量注入系统，并可能导致整个系统的稳定性问题。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号