Force Feedback Augmentation Method for the Minimally Invasive Surgical System

Author

Pitakwatchara, Phongsaen ; Warisawa, Shin-ichi ; Mitsuishi, Mamoru

Author_Institution

Tokyo Univ.

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

1564

Lastpage

1569

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.2006.282042

Filename

4058596