Design and development of sensorless based 5-dof bilaterally controlled surgical manipulator: A prototype
Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to the lack of visibility of the surgical area, instrument orientation, and depth perception. A tele-operated robot assisted minimally invasive surgery is developed to enhance a surgeon's hand dexte...
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th-mahidol.767512022-08-04T18:28:43Z Design and development of sensorless based 5-dof bilaterally controlled surgical manipulator: A prototype Sakol Nakdhamabhorn M. Branesh Pillai Jackrit Suthakorn Mahidol University Computer Science Engineering Mathematics Physics and Astronomy Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to the lack of visibility of the surgical area, instrument orientation, and depth perception. A tele-operated robot assisted minimally invasive surgery is developed to enhance a surgeon's hand dexterity and accuracy. To perform MIS, the surgeon controls a slave manipulator via a master manipulator, so the force feedback and motion feedback are required to imitate an amount of action and reaction force between master and slave manipulator. The complicated MIS requires more complex surgical manipulator with multi DOFs and multiple force feedback. The limitation of multiple DOFs force feedback is a bandwidth of torque sensors. Therefore, this study proposes a sensorless based 5-DOF bilaterally controlled surgical manipulation. In this research disturbance observer (DOB) is used to identify the internal disturbance of the system, which is used to estimate the reaction torque. This research mainly focuses on a 5-DOF bilaterally controlled surgical manipulator to maintain a position and additional force. The result of torque error in contact motion is less than 2%, the non-contact motion error is not over 5%, and it is evident that the error is always less than 0.3% for the position response. 2022-08-04T08:29:10Z 2022-08-04T08:29:10Z 2021-01-01 Article Bulletin of Electrical Engineering and Informatics. Vol.10, No.2 (2021), 619-631 10.11591/eei.v10i2.2331 23029285 20893191 2-s2.0-85103052702 https://repository.li.mahidol.ac.th/handle/123456789/76751 Mahidol University SCOPUS https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85103052702&origin=inward |
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Computer Science Engineering Mathematics Physics and Astronomy Sakol Nakdhamabhorn M. Branesh Pillai Jackrit Suthakorn Design and development of sensorless based 5-dof bilaterally controlled surgical manipulator: A prototype |
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Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to the lack of visibility of the surgical area, instrument orientation, and depth perception. A tele-operated robot assisted minimally invasive surgery is developed to enhance a surgeon's hand dexterity and accuracy. To perform MIS, the surgeon controls a slave manipulator via a master manipulator, so the force feedback and motion feedback are required to imitate an amount of action and reaction force between master and slave manipulator. The complicated MIS requires more complex surgical manipulator with multi DOFs and multiple force feedback. The limitation of multiple DOFs force feedback is a bandwidth of torque sensors. Therefore, this study proposes a sensorless based 5-DOF bilaterally controlled surgical manipulation. In this research disturbance observer (DOB) is used to identify the internal disturbance of the system, which is used to estimate the reaction torque. This research mainly focuses on a 5-DOF bilaterally controlled surgical manipulator to maintain a position and additional force. The result of torque error in contact motion is less than 2%, the non-contact motion error is not over 5%, and it is evident that the error is always less than 0.3% for the position response. |
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Mahidol University |
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Mahidol University Sakol Nakdhamabhorn M. Branesh Pillai Jackrit Suthakorn |
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Article |
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Sakol Nakdhamabhorn M. Branesh Pillai Jackrit Suthakorn |
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Sakol Nakdhamabhorn |
title |
Design and development of sensorless based 5-dof bilaterally controlled surgical manipulator: A prototype |
title_short |
Design and development of sensorless based 5-dof bilaterally controlled surgical manipulator: A prototype |
title_full |
Design and development of sensorless based 5-dof bilaterally controlled surgical manipulator: A prototype |
title_fullStr |
Design and development of sensorless based 5-dof bilaterally controlled surgical manipulator: A prototype |
title_full_unstemmed |
Design and development of sensorless based 5-dof bilaterally controlled surgical manipulator: A prototype |
title_sort |
design and development of sensorless based 5-dof bilaterally controlled surgical manipulator: a prototype |
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2022 |
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https://repository.li.mahidol.ac.th/handle/123456789/76751 |
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1763490071320723456 |