Bilateral controllers for teleoperated percutaneous interventions : evaluation and improvements

This paper presents two teleoperation control schemes developed in the context of percutaneous procedures in interventional radiology. The teleoperation task is characterized by a nonlinear interaction with the environment. The whole force feedback teleoperation structure is modeled to derive a practical, stable and transparent force feedback. The proposed control approach is based on the adaptation of standard force feedback teleoperation controllers. Position-position and force-position structures are improved by local compensation loops that include an a priori knowledge of the interactions between the slave robot and the environment made of soft tissues. This contribution allows to improve position tracking capabilities in spite of the nonlinearity of the interaction