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Authors: Jasmeet Singh Ladoiye 1 ; Dan S. Necsulescu 1 and Jurek Sasiadek 2

Affiliations: 1 Department of Mechanical Engineering, University of Ottawa, Ottawa and Canada ; 2 Department of Mechanical Engineering, Carleton University, Ottawa and Canada

ISBN: 978-989-758-321-6

Keyword(s): Minimum Invasive Surgery (MIS), Surgical Robots, Telecommunication, Force Feedback, Model Predictive Control (MPC), Time Delays, Proportional-integral-derivative (PID), Bilateral Master-slave Control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; System Modeling ; Telerobotics and Teleoperation

Abstract: Tele-surgical robotic systems are making our vision of “virtual open surgery” into reality by using minimum invasive techniques with laparoscopic vision technology. The commercial available minimally invasive robotic systems (MIRS) force the surgeons to forgo the ability to touch and feel the environment, unlike conventional open surgery. Surgeons rely on the visual feedback from the patient’s side at the master console to get information about the operation site. The control gets even more difficult in the teleoperated surgical systems due to random network delays. The difference in the network delay in data and perception makes hand to eye coordination even more difficult. Force feedback can offer surgeon instant perception of the physical properties at the operating end. A novel approach is proposed to control the force of a surgical robot suffering from signal delays using model predictive control. The proposed MPC-scheme of force control in between the master and slave station sh ows compensation of the deterministic time delays. (More)

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Paper citation in several formats:
Ladoiye, J.; Necsulescu, D. and Sasiadek, J. (2018). Force Control of Surgical Robot with Time Delay using Model Predictive Control.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 192-200. DOI: 10.5220/0006908602020210

@conference{icinco18,
author={Jasmeet Singh Ladoiye. and Dan S. Necsulescu. and Jurek Sasiadek.},
title={Force Control of Surgical Robot with Time Delay using Model Predictive Control},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={192-200},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006908602020210},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Force Control of Surgical Robot with Time Delay using Model Predictive Control
SN - 978-989-758-321-6
AU - Ladoiye, J.
AU - Necsulescu, D.
AU - Sasiadek, J.
PY - 2018
SP - 192
EP - 200
DO - 10.5220/0006908602020210

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