A Pragmatic Method for Stable Stiffness Reflection in Telesurgery

At present, surgical master-slave systems lack any kind of force feedback. Typically, controllers giving good stiffness transparency for soft environments cannot guarantee stability during hard contact. This paper presents a pragmatic method to avoid instability of a master-slave system during hard...

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Bibliographic Details
Published inHaptics: Perception, Devices and Scenarios pp. 73 - 82
Main Authors Willaert, Bert, Vander Poorten, Emmanuel, Reynaerts, Dominiek, Van Brussel, Hendrik
Format Book Chapter
LanguageEnglish
Published Berlin, Heidelberg Springer Berlin Heidelberg
SeriesLecture Notes in Computer Science
Subjects
Hard Contact
Stability
Teleoperation
Telesurgery
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Summary:At present, surgical master-slave systems lack any kind of force feedback. Typically, controllers giving good stiffness transparency for soft environments cannot guarantee stability during hard contact. This paper presents a pragmatic method to avoid instability of a master-slave system during hard contacts, which does not affect the stiffness reflection for soft environments. The time derivative of the interaction force with the environment is used to detect a hard contact. Upon detection of a hard contact the force feedback is switched off and a virtual wall is activated at the master side in order to guarantee the perception of hard contact by the operator. The experiments demonstrate good stiffness transparency for soft environments, while the system remains stable for both soft and hard environments.
ISBN:3540690565
9783540690566
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-540-69057-3_8