Transparency and stability analysis of a surgical teleoperator system

11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings. Pub Date : 2003-03-22 DOI:10.1109/HAPTIC.2003.1191319

H. Flemmer, J. Wikander

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引用次数: 11

Abstract

This paper discusses transparency and stability issues for a three channel teleoperator system to be used in sensitive skullbase operations. Based on a design model of the combined master human system with parameter uncertainties and teleoperator optimal transparency conditions, the interaction (communication) channel controllers are derived. One of the interaction channel controllers is then altered to make the teleoperator closed loop meet requirements imposed by the robustness property passivity. Transparency of the teleoperator system is analysed by analysing the gain plots of all the four transfer functions in the H-matrix. The three channel teleoperator is found to have a bandwidth of around 90 rad/sec in the force reflection channel, a small influence on the reflected force from the master velocity for low frequencies, a bandwidth of 150 rad/sec in the forward channel and a slave which is relatively unaffected by external forces. The theoretical results from the stability analysis are verified by experimental results.

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外科远程操作系统的透明性和稳定性分析

本文讨论了用于敏感颅底操作的三通道遥控系统的透明性和稳定性问题。基于具有参数不确定性和遥操作者最优透明条件的组合主人机系统设计模型，推导了交互(通信)通道控制器。然后改变其中一个交互通道控制器，使遥控闭环满足鲁棒性无源性的要求。通过分析h矩阵中四种传递函数的增益图，分析了遥操作系统的透明度。发现三通道远程操作员在力反射通道中具有约90 rad/秒的带宽，对低频主速度反射力的影响很小，在正向通道中带宽为150 rad/秒，而从通道相对不受外力影响。实验结果验证了稳定性分析的理论结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.

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