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Bilateral Control of a Telesurgical Workstation with Haptic Feedback of an open Surgery

Torabi, Payman | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42801 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholam Reza; Ahmadian, Mohammad Taghi
  7. Abstract:
  8. The introduction of Minimally Invasive Surgery (MIS) has deeply influenced modern surgery. Despite all the advantages for the patient, this method produces some limitations for the surgeon. Limitations such as reducing degrees of freedom resulting in the loss of dexterity, depriving surgeons of the depth perception and sense of touch lead to human errors due to fatigue and intense mental activity. Overcoming these limitations is the reason for robots entering the operating rooms. In this research a robot-assisted surgery system including two 5-DOF robots is utilized. The goal of this research is to model and simulate this system and also to design a bilateral controller to provide haptic feedback of an open surgery for the surgeon. This is done in two parts. In the first part, the master and the slave are modeled in the SimMechanics environment of Matlab with complete details. Based on these models a bilateral controller using damping control method is designed for 4 DOFs of each robot. In the second part, a bilateral robust controller is designed for the 5th DOF of each robot which are the graspers. Robust controller can provide a better haptic feedback for the surgeon and also can maintain the performance and the stability of the system with different environments and surgeon hand impedance characteristics.
  9. Keywords:
  10. Robotic Surgery ; Robust Control ; Haptic System ; Minimaly Invasive Surgery (MIS) ; Damping Control

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