Heartbeat synchronization with haptic feedback for telesurgical robot

Yu Nakajima, Takahiro Nozaki, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

57 Citations (Scopus)


Motion-canceling bilateral control, a teleoperation method, is proposed and implemented for telesurgical robots. Telesurgical robots have difficulty in achieving control owing to a lack of haptic feedback and the beating motion of organs. Hence, this study aims to provide a surgeon with the means for feeling the tactile sensation of the remote organ, as well as synchronizing with its motion. Therefore, a surgeon can treat the target using a master robot as if the organ is not moving even though it actually moves. The proposed method basically consists of acceleration-based bilateral control to achieve haptic feedback, and visual servoing is used to compensate for organ motion. The frequency characteristics and root locus of the proposed method are analyzed to evaluate its performance and stability, respectively. The proposal is validated through experiments using telesurgical forceps robots.

Original languageEnglish
Article number6648443
Pages (from-to)3753-3764
Number of pages12
JournalIEEE Transactions on Industrial Electronics
Issue number7
Publication statusPublished - 2014 Jul


  • Bilateral control
  • Haptics
  • Medical robotics
  • Motion canceling
  • Teleoperation
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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