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  Haptic Control with Environment Estimation for Telesurgery

Bhattacharjee, T., Son, H., & Lee, D. (2008). Haptic Control with Environment Estimation for Telesurgery. In 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (pp. 3241-3244). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C7A9-2 Version Permalink: https://hdl.handle.net/21.11116/0000-0003-3D2A-B
Genre: Conference Paper

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https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4649895 (Publisher version)
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 Creators:
Bhattacharjee, T, Author
Son, HI1, Author           
Lee, DY, Author
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: Success of telesurgical operations depends on better position tracking ability of the slave device. Improved position tracking of the slave device can lead to safer and less strenuous telesurgical operations. The two-channel force-position control architecture is widely used for better position tracking ability. This architecture requires force sensors for direct force feedback. Force sensors may not be a good choice in the telesurgical environment because of the inherent noise, and limitation in the deployable place and space. Hence, environment force estimation is developed using the concept of the robot function parameter matrix and a recursive least squares method. Simulation results show efficacy of the proposed method. The slave device successfully tracks the position of the master device, and the estimation error quickly becomes negligible.

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 Dates: 2008-08
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/IEMBS.2008.4649895
BibTex Citekey: 6464
 Degree: -

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Title: 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2008)
Place of Event: Vancouver, BC, Canada
Start-/End Date: 2008-08-20 - 2008-08-25

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Title: 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Source Genre: Proceedings
 Creator(s):
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3241 - 3244 Identifier: ISBN: 978-1-4244-1814-5