A bilateral control method for surgical robots

This paper discusses the bilateral control method for surgical robots. By analyzing the features of surgical operations, independence relationship of all the variables involved in a surgical robot system is determined. Considering the intelligence and motion coordination of human neural system, a causality diagram of the integrated system including the operator and environment is presented. Moreover, a control scheme of F-P structure based on disturbance observer is proposed according to the features of surgical robots, i.e. using velocity as the input signal, demanding high transparency and low frequency property. Finally, the stability and transparency of the proposed scheme are discussed, which is also compared with another low frequency transparency method by numerical simulation. The simulation results show the effectiveness of the proposed control scheme.