Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Impedance Model based Bilateral Control for Force reflection of a Laparoscopic Surgery Robot

복강경 수술 로봇의 힘 반향을 위한 임피던스 모델 기반의 양방향 제어

  • Yoon, Sung-Min (Mechanical Engineering, Pusan National University) ;
  • Kim, Won-Jae (Intelligent Control Research Dep't, Hyundai Heavy Industries) ;
  • Lee, Min-Cheol (Mechanical Engineering, Pusan National University)
  • 윤성민 (부산대학교 기계공학부) ;
  • 김원재 (현대중공업 지능제어연구실) ;
  • 이민철 (부산대학교 기계공학부)
  • Received : 2014.06.02
  • Accepted : 2014.06.30
  • Published : 2014.08.01
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Abstract

LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

Keywords

Acknowledgement

Supported by : 한국연구재단

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