Title :
Estimation of environmental model with nonlinear stiffness
Author :
Sato, Masataka ; Ohnishi, Kouhei
Author_Institution :
Dept. of Syst. Design Engineerging, Keio Univ., Yokohama, Japan
Abstract :
Recently, Minimally Invasive Surgery(MIS) has come to the front. The research on surgical robot for operational support has been actively done. To use such robots in MIS, it is needed to estimate the environmental impedance as the numerical data and to preserve it as the standard reference value of the safety field of internal organs. In this paper, the environmental model considering nonlinear stiffness in real environment by bilateral control is proposed. The proposed method can estimate environmental model without depending on the initial position of a slave system and environmental surface. To verify the viability of the proposed method, experimental results are shown.
Keywords :
elastic constants; medical robotics; nonlinear control systems; surgery; bilateral control; environmental impedance estimation; environmental model; minimally invasive surgery; nonlinear stiffness; slave system; surgical robot; Electric motors; Force control; Frequency; Motion control; Pulse width modulation; Pulse width modulation inverters; Traction motors; Vehicle driving; Vehicle dynamics; Wheels; Bilateral Control; Disturbance observer; Haptics; Impedance Estimation;
Conference_Titel :
Advanced Motion Control, 2010 11th IEEE International Workshop on
Conference_Location :
Nagaoka, Niigata
Print_ISBN :
978-1-4244-6668-9
Electronic_ISBN :
1943-6572
DOI :
10.1109/AMC.2010.5464039