Abstract
Minimally invasive surgery (MIS) has been advanced by new medical/surgical robotic technologies, aiming to achieve less invasiveness, smaller or even no scar procedures. Miniaturized surgical robot presents promising alternative to better benefit MIS, but considerable constraints including cables for power and communication may degrade its performance. Wireless communication posses great potential to be utilized, however time delay is inevitably introduced which challenges the design of teleoperation system from both stability and transparency point of view. Wave variable based teleoperation provides stable force reflecting teleoperation with arbitrary time delay, but with both compromised position and force tracking performances. Recently we proposed a wave variable compensated structure to improve the position and tracking performance together with energy reservoir based regulators for stability purpose (Guo et al. In: Proceeding European Control Conference (ECC), Linz, pp. 1980–1985 (2015), [23]), but with assumption of passive operator and environment. In this paper, several experiments are conduced to evaluate the passivity of operator using the enhanced wave variable compensated structure, and to study the influence of non-passive behavior conducted by operator to the performance of teleoperation and overall system stability. This first case study shows that non-passive behaviors of operator (such as rigid grasp and trajectory tracking tasks) can inject extra energy into system and may cause stability issues for whole system.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Salerno, M., Tognarelli, S., Quaglia, C., Dario, P., Menciassi, A.: Anchoring frame for intra-addominal surgery. Int. J. Rob. Res. 32, 360–370 (2013)
Wortman, T.D., Strabala, K.W., Lehman, A.C., Farritor, S.M., Oleynikov, D.: Laparoscopic single site surgery using a miltifunctional miniature in vivo robot. Int. J. Med. Rob. Comput. Assist. Surg. 7, 17–21 (2011)
Champagne, B., Stulberg, J.J., Fan, Z., Delaney, C.P.: The feasibility of laparoscopic colectomy in urgent and emergent settings. Surg. Endosc. 23, 1791–1796 (2009)
Bergeles, C., Yang, G., Z.: From passive tool holders to microsurgeons: safer, smaller, smarter surgical robots. IEEE Trans. Biomed. Eng. 61, 1565–1576 (2014)
Tacchino, R., Greco, F., Matera, D.: Single-incision Laparoscopic-cholecystectomy: surgery without a visible scar. Surg. Endosc. 23, 896–899 (2009)
Lirici, M.M.: Single site Laparoscopic surgery: an intermediate step toward no(visible) scar surgery or the next gold standard in minimally invasive surgery? Minim. Invasive Surg. Ther. Allied Technol. 21, 1–7 (2012)
Asakuma, M., Perretta, S., Allemann, P., et al.: Chanllenges and lessons learned from NOTES cholecystectomy initial experience: a stepwise approach from the laboratory to clinical application. J. hepato-Biliary-Pancreat. Surg. 16, 249–254 (2009)
Nagy, Z., M. Fluckiger, Oung, R., et al.: Assembling reconfigurable endoluminal surgical systems: opportunities and challenges. Int. J. Biomech. Biomed. Rob. 1, 2–16 (2009)
Tortora, G., Salerno, M., Ranzani, T., Tognarelli, S., Dario, P., Menciassi, A.: A modular magnetic platform for natural orifice transluminal endoscopic surgery. In: Proceedings of Engineering in Medicine and Biology Society (EMBC), 35th Annual International Conference of the IEEE, Osaka, pp. 6265–6268 (2013)
Guo, J., Liu, C., Poignet, P.: Scaled position-force tracking for wireless teleoperation of miniaturized surgical robotic system. In: Proceedings of Engineering in Medicine and Biology Society (EMBC), 36th Annual International Conference of the IEEE, Chicago, pp. 361–365 (2014)
Taylor, R.H., Dan, S.: Medical robotics in computer-integrated surgery. IEEE Trans. Rob. Auto. 19, 765–780 (2003)
Lawrence, D.A.: Stability and transparency in bilateral teleoperation. IEEE Trans. Rob. Auto. 9, 624–637 (1993)
Niemeyer, G., Slotine, J.J.: Stable adaptive teleoperation. IEEE J. Ocean. Eng. 16, 152–162 (1991)
Kawashima, K., Tadano, K., Sankaranarayan, G., Hannoford, B.: Bilateral teleoperation with time delay using modified wave variable. In: Proceeding IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, pp. 424–429 (2008)
Kawashima, K., Tadano, Wang, G., K., Sankaranarayan, G., Hannoford, B.: Bilateral teleoperation with time delay using modified wave variable based controller. In: Proceeding IEEE International Conference of Robotics and Automation (ICRA), Kobe, pp. 4326–4331 (2009)
Ye, Y., Liu, P.X.: Improved haptic feedback fidelity in wave-variable-based teleoperation orientated to telemedical application. IEEE Trans. Instrimentation Measur. 58, 2847–2855 (2009)
Ye, Y., Liu, P.X.: Improved trajectory tracking in wave-variable-based teleoperation. IEEE/ASME Trans. Mechatron. 15, 321–326 (2010)
Bate, L., Cook, C.D., Li, Z.: Reducing wave-based teleopertor reflections for unknown environments. IEEE Trans. Ind. Electron. 58, 392–397 (2011)
Li, H., Kawashima, K., Li, H., Kawashima, K.: Achieving stable tracking in wave-variable-based teleoperation. IEEE/ASME Trans. Mechatron. 19, 1574–1582 (2014)
Jazayeri, A., Tavakoli, M.: Revisiting Llewellyn’s absolute stability criterion for bilateral teleoperation systems under non-passive operator or environment. In: Proceeding IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Algarve, pp. 70–75 (2012)
Jazayeri, A., Dyck, M., Tavakoli, M.: Stability analysis of teleoperation systems under strictly passive and non-passive operator. In: Proceeding World Haptic Conference, IEEE, Daejeon, pp. 695–700 (2013)
Jazayeri, A., Tavakoli, M.: Bilateral teleoperation system stability with non-passive and strictly passive operator or environment. Control Eng. Pract. 40, 45–60 (2015)
Guo, J., Liu, C., Poignet, P.: Stable and enhanced position-force tracking for bilateral teleoperation with time delay. In: Proceeding European Control Conference (ECC), IEEE, Linz, pp. 1980–1985 (2015)
Guo, J., Liu, C., Poignet, P.: Enhanced position-force tracking of time-delayed teleoperation for robotic-assisted surgery. In: Proceedings of Engineering in Medicine and Biology Society (EMBC), 37th Annual International Conference of IEEE, Milano, pp. 4894–4897 (2015)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Guo, J., Liu, C., Poignet, P. (2016). Effect of Non-passive Operator on Enhanced Wave-Based Teleoperator for Robotic-Assisted Surgery: First Case Study. In: Wenger, P., Chevallereau, C., Pisla, D., Bleuler, H., Rodić, A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 39. Springer, Cham. https://doi.org/10.1007/978-3-319-30674-2_1
Download citation
DOI: https://doi.org/10.1007/978-3-319-30674-2_1
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-30673-5
Online ISBN: 978-3-319-30674-2
eBook Packages: EngineeringEngineering (R0)