Paper Info
Title
Stability And Performance Analysis Of Three-Channel Teleoperation Control Architectures For Medical Applications
Abstract
Tele-surgery has been more and more popular in robot-assisted medical intervention. Most existing teleoperation architectures for medical applications adopt 2-channel architectures. The 2-channel architectures have been evaluated in literature and it is shown that some architectures, e.g. position-force (P-F), are able to provide the surgeon a reliable haptic sense of the working environment (transparency). However, stability of these P-F architecture is still a considerable concern especially when physiological disturbances exist in the remote environment. P-PF architecture is proved to provide a convenient alternative. With one more channel 3-channel teleoperation architectures present promising options due to their augmented design flexibility. This paper evaluates stability and transparency of general 3-channel bilateral teleoperation control architectures and provides a design framework guidelines to improve the architectures' stability robustness and optimize the transparency. Simulation evaluations are provided to illustrate how the optimal 3-channel teleoperation architecture is chosen for medical applications given their dedicated requirements.
Year
DOI
Venue
2013
10.1109/IROS.2013.6696391
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Keywords
Field
DocType
Bilateral Teleoperation, Haptic feedback, Three-channel architectures, Telesurgery
Teleoperation,Transparency (graphic),Optimal control,Computer science,Communication channel,Control engineering,Robustness (computer science),Robust control,Telerobotics,Haptic technology
Conference
ISSN
Citations 
PageRank 
2153-0858
1
0.36
References 
Authors
15
3
Name
Order
Citations
PageRank
Abdulrahman Albakri181.63
Chao Liu29810.17
Philippe Poignet351759.75