The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Evaluation of a Possibility of Estimation of Reaction Force of Surgical Robot Instrument using Sliding Perturbation Observer

슬라이딩 섭동 관측기를 이용한 수술용 로봇 인스트루먼트의 반력 추정 가능성 평가

  • Received : 2011.10.21
  • Accepted : 2012.01.12
  • Published : 2012.02.29
Download PDF
⟨ Previous Next ⟩

Abstract

In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.

Keywords

References

  1. Intuitive Surgical Inc, EndoWrist Instrument catalogue, Available at http://www.intuitivesurgical.com
  2. J. Bodner, H. Wykypeil, G. Wetscher, and T. Schmid, "First experiences with the da VinciTM operating robot in thoracic surgery," European Journal of Cardio-Thoracic Surgery, Vol.25, No.25, pp.844-851, 2004. https://doi.org/10.1016/j.ejcts.2004.02.001
  3. T. K. Lee, M. C. Lee, and C. Y. Kim, "Modeling of torque transmission characteristics in surgical robot," ICROS-SICE International Joint Conference 2009, pp.2617-2620, 2009.
  4. T. K. Lee, C. Y. Kim, and M. C. Lee, "Friction Analysis According to Pretension of Laparoscopy Surgical Robot Instrument," International Journal of Precision Engineering and Manufacturing, Vol.12, No.2, pp.259-266, 2011. https://doi.org/10.1007/s12541-011-0035-6
  5. Y. E. Song, M. C. Lee, and C. Y. Kim, "Sliding Mode Control with Sliding Perturbation Observer for Surgical Robots," Proceedings of ISIE 2009, pp. 2153-2158, 2009.
  6. M. C. Lee, C. Y. Kim, B. Yao, W. J. Penie, and Y. E. Song, "Reaction Force Estimation of Surgical Robot Instrument Using Perturbation Observer with SMCSPO Algorithm," Proceedings of AIM(2010), pp.181-186.
  7. C. Y. Kim, M. C. Lee, S. M. Yoon, and B. H. Kang, "A Study on State and Perturbation Observers of the Controller of Surgical Robot Instrument," In proceedings of 2011 8th Asian Control Conference, pp.553-557, 2011.
  8. H. Elmali, and N. Olgac, "Sliding Mode Control With Perturbation Estimation(SMCSPE)," International Journal of Control, Vol.56, pp. 923-941, 1992. https://doi.org/10.1080/00207179208934350
  9. M. J. Terra, H. Elmali, and N. Olgac, "Sliding Mode Control With Perturbation Observer," Journal of Dynamic System, Mesurement, and Control, Vol.119, pp.657-665, 1997. https://doi.org/10.1115/1.2802375
  10. K. S. You, M. C. Lee, and W. S. You, "Sliding Mode Control With Perturbation Observer Based on Gain Optimization using Genetic Algorithm," KSME Int, J., Vol.18, No.4, pp.630-639, 2004. https://doi.org/10.1007/BF02983647
  11. J. J. Slotine, J. K. Hedrick, and E. A. Misawa, "On Sliding Observers for Non-Linear Systems," ASME Journal of Dynamic System, Measurement and Control, Vol.109, pp.245-252, 1987. https://doi.org/10.1115/1.3143852

Cited by

  1. Dynamic modeling of coupled tendon-driven system for surgical robot instrument vol.15, pp.10, 2014, https://doi.org/10.1007/s12541-014-0566-8
  2. 속도 오차 기반의 충돌 감지 알고리즘 vol.9, pp.2, 2012, https://doi.org/10.7746/jkros.2014.9.2.111
  3. 복강경 수술 로봇의 힘 반향을 위한 임피던스 모델 기반의 양방향 제어 vol.20, pp.8, 2012, https://doi.org/10.5302/j.icros.2014.14.9038