Teleoperated Surgical Robot with Adaptive Interactive Control Architecture for Tissue Identification
Abstract
:1. Introduction
2. Methods
2.1. Teleoperation Bilateral Contact Model
2.2. Teleoperation Mapping Scheme
2.3. Interaction Force Model
2.4. The Ideal Interaction Situation
2.5. Stiffness Estimation
2.6. Desired Teleoperation Controllers
2.7. Passivity Analysis
3. Experiments and Results
3.1. Hardware Setup
3.2. Stable Contact Test
3.2.1. Hypotheses
3.2.2. Results
3.3. Human Subject Experiments
3.3.1. Participant Recruitment
3.3.2. Experimental Conditions
3.3.3. Procedure
3.3.4. Metrics
3.3.5. Hypotheses
3.3.6. Subjective Results
3.3.7. Quantitative Results
4. Discussion
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Abbreviations
RLS | Recursive Least Square |
TDPA | Time Domain Passivity Approach |
ROS | Robot Operating System |
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Question | |
---|---|
Accuracy | Which object do you think is on the slave side? |
Stability | How would you rate the stability of the system from 0 to 10 according to the degree of recoiling that you felt during the trial? |
Flexibility | How would you rate the flexibility of the system from 0 to 10 according to the smoothness of moving the master device during the trial? |
Satisfaction | How would you rate your satisfaction with the system from 0 to 10? |
Metric | Adaptive Control | Baseline | p-Value |
---|---|---|---|
Accuracy | 0.901 | 0.801 | 0.0136 |
Contact Stability | 8.194 | 7.196 | 0.0153 |
Flexibility | 8.681 | 6.953 | |
Satisfaction | 8.190 | 6.953 | 0.0014 |
Adaptive Control | Baseline | |
---|---|---|
Hard | 2.601 | 0.6409 |
Medium | 2.9447 | 0.1543 |
Soft | 1.415 | 0.1194 |
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Sheng, Y.; Cheng, H.; Wang, Y.; Zhao, H.; Ding, H. Teleoperated Surgical Robot with Adaptive Interactive Control Architecture for Tissue Identification. Bioengineering 2023, 10, 1157. https://doi.org/10.3390/bioengineering10101157
Sheng Y, Cheng H, Wang Y, Zhao H, Ding H. Teleoperated Surgical Robot with Adaptive Interactive Control Architecture for Tissue Identification. Bioengineering. 2023; 10(10):1157. https://doi.org/10.3390/bioengineering10101157
Chicago/Turabian StyleSheng, Yubo, Haoyuan Cheng, Yiwei Wang, Huan Zhao, and Han Ding. 2023. "Teleoperated Surgical Robot with Adaptive Interactive Control Architecture for Tissue Identification" Bioengineering 10, no. 10: 1157. https://doi.org/10.3390/bioengineering10101157