Title :
Force Feedback Augmentation Method for the Minimally Invasive Surgical System
Author :
Pitakwatchara, Phongsaen ; Warisawa, Shin-ichi ; Mitsuishi, Mamoru
Author_Institution :
Tokyo Univ.
Abstract :
In this paper, a method of force feedback augmentation to improve the force perception is proposed. Reaction force is amplified naturally according to the forceps action. In particular, the principal force components corresponding to the ideal reaction force directions of the current forceps action will be amplified. The other components are displayed without amplification. As a result, only the simple but significant reaction force patterns are emphasized. Complex behavior of the reaction force, which may distract or deteriorate the intended action, is attenuated. In addition, the PI gain scheduling local force feedback controller compensates for the inertial and gravitational force of the master manipulator. Thus the true reaction force at the forceps can be felt more realistic
Keywords :
PI control; force control; force feedback; manipulators; medical robotics; surgery; PI gain scheduling; force feedback augmentation; force perception; gravitational force; inertial force; master manipulator; minimally invasive surgical system; reaction force patterns; Accidents; Endoscopes; Force control; Force feedback; Force sensors; Laparoscopes; Manipulators; Minimally invasive surgery; Robot sensing systems; Surgical instruments; Force Feedback Augmentation; Force Feedback Gain Scheduling; Master-Slave Teleoperation; Minimally Invasive Surgical System;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282042
