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Gain-Scheduling Control of Teleoperation Systems Interacting With Soft Tissues

Cho, Jang Ho LU ; Son, Hyoung Il ; Lee, Dong Gun ; Bhattacharjee, Tapomayukh and Lee, Doo Yong (2013) In IEEE Transactions on Industrial Electronics 60(3). p.946-957
Abstract
Surgical teleoperation systems are being increasingly deployed recently. There are, however, some unsolved issues such as nonlinear characteristics of the interaction between the slave robot and soft tissues and difficulty in employing force sensors in the surgical end-effectors of the slave. These issues make it difficult to generalize any approach to develop a control for the system. This paper addresses these issues by proposing a H-infinity suboptimal controller preserving robust stability and performance. The environment, i.e., soft tissues, is characterized with the nonlinear Hunt-Crossley model. This nonlinear characteristics of soft tissues are expressed with an affine combination of linear models within a predefined parameter... (More)
Surgical teleoperation systems are being increasingly deployed recently. There are, however, some unsolved issues such as nonlinear characteristics of the interaction between the slave robot and soft tissues and difficulty in employing force sensors in the surgical end-effectors of the slave. These issues make it difficult to generalize any approach to develop a control for the system. This paper addresses these issues by proposing a H-infinity suboptimal controller preserving robust stability and performance. The environment, i.e., soft tissues, is characterized with the nonlinear Hunt-Crossley model. This nonlinear characteristics of soft tissues are expressed with an affine combination of linear models within a predefined parameter polytope. For this linear parameter-varying system, a gain-scheduling control scheme is employed to design a suboptimal controller while guaranteeing its stability. To avoid using any force measurement in slave, we used position-position (PP) control architecture. The developed gain-scheduling control is validated with quantitative experimental results. The developed gain-scheduling PP control scheme shows good tracking capacity and high transparency for varied experimental conditions. Error of the transmitted impedance is significantly lower compared with other conventional control schemes for frequencies less than 2 Hz, which is frequently recommended for surgical teleoperation. (Less)
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author
; ; ; and
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Gain-scheduling control, robotic surgery, teleoperation, transparency
in
IEEE Transactions on Industrial Electronics
volume
60
issue
3
pages
946 - 957
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • wos:000310329300011
  • scopus:84868107432
ISSN
0278-0046
DOI
10.1109/TIE.2012.2189537
language
English
LU publication?
yes
id
f775e844-4072-469a-b63d-2cb9e8575b84 (old id 3401267)
date added to LUP
2016-04-01 14:37:47
date last changed
2020-10-07 03:51:15
@article{f775e844-4072-469a-b63d-2cb9e8575b84,
  abstract     = {Surgical teleoperation systems are being increasingly deployed recently. There are, however, some unsolved issues such as nonlinear characteristics of the interaction between the slave robot and soft tissues and difficulty in employing force sensors in the surgical end-effectors of the slave. These issues make it difficult to generalize any approach to develop a control for the system. This paper addresses these issues by proposing a H-infinity suboptimal controller preserving robust stability and performance. The environment, i.e., soft tissues, is characterized with the nonlinear Hunt-Crossley model. This nonlinear characteristics of soft tissues are expressed with an affine combination of linear models within a predefined parameter polytope. For this linear parameter-varying system, a gain-scheduling control scheme is employed to design a suboptimal controller while guaranteeing its stability. To avoid using any force measurement in slave, we used position-position (PP) control architecture. The developed gain-scheduling control is validated with quantitative experimental results. The developed gain-scheduling PP control scheme shows good tracking capacity and high transparency for varied experimental conditions. Error of the transmitted impedance is significantly lower compared with other conventional control schemes for frequencies less than 2 Hz, which is frequently recommended for surgical teleoperation.},
  author       = {Cho, Jang Ho and Son, Hyoung Il and Lee, Dong Gun and Bhattacharjee, Tapomayukh and Lee, Doo Yong},
  issn         = {0278-0046},
  language     = {eng},
  number       = {3},
  pages        = {946--957},
  publisher    = {IEEE - Institute of Electrical and Electronics Engineers Inc.},
  series       = {IEEE Transactions on Industrial Electronics},
  title        = {Gain-Scheduling Control of Teleoperation Systems Interacting With Soft Tissues},
  url          = {http://dx.doi.org/10.1109/TIE.2012.2189537},
  doi          = {10.1109/TIE.2012.2189537},
  volume       = {60},
  year         = {2013},
}