TY - GEN
T1 - A method for the dynamical estimation of environmental impedance by bilateral control
AU - Takei, Takayoshi
AU - Shimono, Tomoyuki
AU - Ohnishi, Kouhei
PY - 2008
Y1 - 2008
N2 - Recently, Minimally Invasive Surgery (MIS) that has some advantages 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 from the viewpoint of knowing the standard reference value of the safety field of internal organs and from that of the support of education for the operation . In this paper, a novel method for the estimation of environmental impedance in a real environment by bilateral control is proposed. In this method, one degrees of freedom linear motor is used. And it enables environmental impedance to be estimated with an environmental reaction force by the reaction force observer based on the disturbance observer. It is able to estimate environmental impedance without depending on slave's initial position. Moreover, the impedance is enabled to be estimated dynamically by using past information. To verify the viability of the proposed method, experimental results are shown.
AB - Recently, Minimally Invasive Surgery (MIS) that has some advantages 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 from the viewpoint of knowing the standard reference value of the safety field of internal organs and from that of the support of education for the operation . In this paper, a novel method for the estimation of environmental impedance in a real environment by bilateral control is proposed. In this method, one degrees of freedom linear motor is used. And it enables environmental impedance to be estimated with an environmental reaction force by the reaction force observer based on the disturbance observer. It is able to estimate environmental impedance without depending on slave's initial position. Moreover, the impedance is enabled to be estimated dynamically by using past information. To verify the viability of the proposed method, experimental results are shown.
UR - http://www.scopus.com/inward/record.url?scp=77951067635&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2008.4516138
DO - 10.1109/AMC.2008.4516138
M3 - Conference contribution
AN - SCOPUS:77951067635
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 619
EP - 624
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -