Stability and Transparency in Bilateral Teleoperation of a Surgical Robot: A case study
TL;DR: The systematic analysis of the developments in the field of teleoperation and the current direction of research are presented herein, and an architecture is suggested, which serves as a suitable platform for researchers to carryout teleoperation system analysis.
Abstract: Teleoperation plays a major role in many robotic applications such as minimally invasive surgeries, deep underwater/ space operations, hazardous manipulations etc. This necessitates the development of better controllers and architectures that are efficient for practical implementation. The systematic analysis of the developments in the field of teleoperation and the current direction of research are presented herein. This paper elaborates on the practical issues in the development of a teleoperation system, the means by which researchers have attempted to solve these, the level of success, and the future directions. The teleoperation of a surgical robot with a master-slave configuration is considered as a case study to emphasise the issues in bilateral teleoperation. Modelling of the system, the teleoperation control architecture and the stability-transparency issues are presented along with the corresponding simulation results. Finally, an architecture is suggested, which serves as a suitable platform for researchers to carryout teleoperation system analysis.
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TL;DR: In this paper, a control law for teleoperators is presented which overcomes the instability caused by time delay by using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay.
Abstract: A control law for teleoperators is presented which overcomes the instability caused by time delay. By using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay. The control law has been implemented on a single-axis force-reflecting hand controller, and preliminary results are shown. To keep the presentation clear, a single-degree-of-freedom (DOF) linear time-invariant (LTI) teleoperator system is discussed. Nevertheless, results can be extended, without loss of generality, to an n-DOF nonlinear teleoperation system. >
2,131 citations
"Stability and Transparency in Bilat..." refers background or methods in this paper
...Researchers have investigated the pros and cons of such exchange of signals [3-6]....
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...The entire formulation is again done in the Laplace domain as in [3]....
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...A conventional control strategy is also depicted in [3], whose choice forms the crux of the analysis....
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...Anderson and Spong [3] have treated the individual master, communication, and slave subsystems as two port electrical networks....
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...Mathematically expressing, a system with input u and output y is said to be passive if there exists a constant β ≥ 0 such that [7] ∫ yT(t)u(t)dt T 0 ≥ −β (1) Hatanaka, Nikhil, Fujitta and Spong [7] explains in detail the close relation between a system being passive (in terms of limited energy) and stable....
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01 Oct 1993
TL;DR: It is shown that a proper use of an four channels is of critical importance in achieving high performance telepresence in the sense of accurate transmission of task impedances to the operator.
Abstract: Tools for quantifying teleoperation system performance and stability when communication delays are present are provided A general multivariable system architecture is utilized which includes all four-types of data transmission between master and slave: force and velocity in both directions It is shown that a proper use of an four channels is of critical importance in achieving high performance telepresence in the sense of accurate transmission of task impedances to the operator It is also shown that transparency and robust stability (passivity) are conflicting design goals in teleoperation systems The analysis is illustrated by comparing transparency and stability in two common architectures, as well as a recent passivated approach and a new transparency-optimized architecture, using simplified one-degree-of-freedom examples >
2,083 citations
"Stability and Transparency in Bilat..." refers background in this paper
...Lawrence [5] has then come up with a four channel architecture, which essentially differs in the type of signal that is transmitted....
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...When the slave contacts a stiff environment, the transmitted impedance (as in [5]) reduces so that the human feels only the dynamics of master....
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...Researchers have investigated the pros and cons of such exchange of signals [3-6]....
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...Later in 1993, Lawrence [5] interestingly proposed an architecture which primarily focuses on maintaining the transparency of the system....
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...Later in 1993, Lawrence [5] interestingly proposed an architecture which primarily focuses on maintaining the transparency of the system....
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TL;DR: This survey addresses the subject of bilateral teleoperation, a research stream with more than 50 years of history and one that continues to be a fertile ground for theoretical exploration and many applications.
1,584 citations
"Stability and Transparency in Bilat..." refers background in this paper
...A deeper insight into the understanding of haptics can be found in [12-15]....
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TL;DR: In this article, a physically motivated, passivity-based formalism is used to provide energy conservation and stability guarantees in the presence of transmission delays, and an adaptive tracking controller is incorporated for the control of the remote robotic system and can be used to simplify, transform or enhance the remote dynamics perceived by the operator.
Abstract: A study is made of how the existence of transmission time delays affects the application of advanced robot control schemes to effective force-reflecting telerobotic systems. This application best exploits the presence of the human operator while making full use of available robot control technology and computing power. A physically motivated, passivity-based formalism is used to provide energy conservation and stability guarantees in the presence of transmission delays. The notion of wave variable is utilized to characterize time-delay systems and leads to a configuration for force-reflecting teleoperation. The effectiveness of the approach is demonstrated experimentally. Within the same framework, an adaptive tracking controller is incorporated for the control of the remote robotic system and can be used to simplify, transform, or enhance the remote dynamics perceived by the operator. >
1,286 citations
23 May 1990
TL;DR: In this article, a preliminary study of what role recent results in adaptive robot control and the understanding of time-delays may play in the development of effective telerobotics systems, which would best exploit the presence of the human operator while making full use of available robot control technology and computing power.
Abstract: Telerobotics, the body of science and technology which bridges human control and purely autonomous machines, is expected to be a merging point of modern developments in robotics, control theory, cognitive science, machine design, and computer science. Besides traditional applications in space, subsea, and handling of hazardous material, many new potential uses of advanced telerobotic systems have recently been suggested or explored, such as safety applications or microsurgery. This paper is a preliminary study of what role recent results in adaptive robot control and the understanding of time-delays may play in the development of effective telerobotics systems, which would best exploit the presence of the human operator while making full use of available robot control technology and computing power. The key paradigm it explores is that of simplifying, transforming, or enhancing the remote dynamics perceived by the operator by proper use of adaptive robot control techniques and tools from passivity theory.
936 citations