Haptic feedback designs in teleoperation systems for minimal invasive surgery

I. Font; S. Weiland; M. Franken; M. Steinbuch; A.F. Rovers

doi:10.1109/ICSMC.2004.1400707

Haptic feedback designs in teleoperation systems for minimal invasive surgery

I. Font, S. Weiland, M. Franken, M. Steinbuch, A.F. Rovers

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

9 Citations (Scopus)

1 Downloads (Pure)

Abstract

One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and make a coupling between slave and master. Despite the significant amount of research on haptic devices, this control design problem is, largely, an open problem. This paper reports the results on three model-based control designs. Using the formalism of passivity, a robust controller has been designed, and is compared to a gain scheduled controller (LPV) which is adaptable for changes in the tissue characteristics.

Original language	English
Title of host publication	2004 IEEE international conference on systems, man and cybernetics : The Hague, Netherlands (SMC 2004) : vol. 3
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	2513-2518
ISBN (Print)	0-7803-8566-7
DOIs	https://doi.org/10.1109/ICSMC.2004.1400707
Publication status	Published - 2004
Event	2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, Netherlands Duration: 10 Oct 2004 → 13 Oct 2004

Conference

Conference	2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004
Abbreviated title	SMC 2004
Country/Territory	Netherlands
City	The Hague
Period	10/10/04 → 13/10/04

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10.1109/ICSMC.2004.1400707

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Font, I., Weiland, S., Franken, M., Steinbuch, M., & Rovers, A. F. (2004). Haptic feedback designs in teleoperation systems for minimal invasive surgery. In 2004 IEEE international conference on systems, man and cybernetics : The Hague, Netherlands (SMC 2004) : vol. 3 (pp. 2513-2518). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICSMC.2004.1400707

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title = "Haptic feedback designs in teleoperation systems for minimal invasive surgery",

abstract = "One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and make a coupling between slave and master. Despite the significant amount of research on haptic devices, this control design problem is, largely, an open problem. This paper reports the results on three model-based control designs. Using the formalism of passivity, a robust controller has been designed, and is compared to a gain scheduled controller (LPV) which is adaptable for changes in the tissue characteristics.",

author = "I. Font and S. Weiland and M. Franken and M. Steinbuch and A.F. Rovers",

year = "2004",

doi = "10.1109/ICSMC.2004.1400707",

language = "English",

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note = "2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004, SMC 2004 ; Conference date: 10-10-2004 Through 13-10-2004",

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Font, I, Weiland, S, Franken, M, Steinbuch, M & Rovers, AF 2004, Haptic feedback designs in teleoperation systems for minimal invasive surgery. in 2004 IEEE international conference on systems, man and cybernetics : The Hague, Netherlands (SMC 2004) : vol. 3. Institute of Electrical and Electronics Engineers, Piscataway, pp. 2513-2518, 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004, The Hague, Netherlands, 10/10/04. https://doi.org/10.1109/ICSMC.2004.1400707

Haptic feedback designs in teleoperation systems for minimal invasive surgery. / Font, I.; Weiland, S.; Franken, M. et al.
2004 IEEE international conference on systems, man and cybernetics : The Hague, Netherlands (SMC 2004) : vol. 3. Piscataway: Institute of Electrical and Electronics Engineers, 2004. p. 2513-2518.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Haptic feedback designs in teleoperation systems for minimal invasive surgery

AU - Font, I.

AU - Weiland, S.

AU - Franken, M.

AU - Steinbuch, M.

AU - Rovers, A.F.

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Y1 - 2004

N2 - One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and make a coupling between slave and master. Despite the significant amount of research on haptic devices, this control design problem is, largely, an open problem. This paper reports the results on three model-based control designs. Using the formalism of passivity, a robust controller has been designed, and is compared to a gain scheduled controller (LPV) which is adaptable for changes in the tissue characteristics.

AB - One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and make a coupling between slave and master. Despite the significant amount of research on haptic devices, this control design problem is, largely, an open problem. This paper reports the results on three model-based control designs. Using the formalism of passivity, a robust controller has been designed, and is compared to a gain scheduled controller (LPV) which is adaptable for changes in the tissue characteristics.

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DO - 10.1109/ICSMC.2004.1400707

M3 - Conference contribution

SN - 0-7803-8566-7

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BT - 2004 IEEE international conference on systems, man and cybernetics : The Hague, Netherlands (SMC 2004) : vol. 3

PB - Institute of Electrical and Electronics Engineers

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T2 - 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004

Y2 - 10 October 2004 through 13 October 2004

ER -

Haptic feedback designs in teleoperation systems for minimal invasive surgery

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