Force feedback time prediction based on neural network of MIS Robot with time delay

Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In manual MIS, the surgeon is separated from the operation area, which is reached by long instruments. In image-guided procedures, image prediction technique based on visual reality technology has solved ti...

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Bibliographic Details
Published in2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014) pp. 2703 - 2708
Main Authors Ning, Y., Han, L. L., Xiao, Z. R., Liu, B. G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2014
Subjects
BBF neural network
Biological neural networks
Delay effects
Force
Force feedback
force feedback information
Manipulators
start and stop time of force feedback torque
time delay
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Summary:Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In manual MIS, the surgeon is separated from the operation area, which is reached by long instruments. In image-guided procedures, image prediction technique based on visual reality technology has solved time-delay problem of image information between master and slave manipulator of teleoperation system effectively in many application fields. However, time-delay of force feedback information which is transmitted from communication link is also inconvenient to the operator's working and makes a bad influences on the system's stability and transparency. In this paper, the start and stop time of feedback force torque can be predicted by using RBF neural network technology when the slave manipulator is interacting with the environment, such that the force feedback information can synchronize with the predictive image. Simulation results show excellence of the proposed scheme.
DOI:10.1109/ROBIO.2014.7090751