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Bilateral Control of a Laparoscopic Tele-Surgical Workstation with Haptic Feedback

Alambeigi, Farshid | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43204 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza; Farahmand, Farzam
  7. Abstract:
  8. Laparoscopic surgery which is categorized under Minimal Invasive Surgery, has many advantages over conventional open surgery. Despite the beneficial effect of this method on patients, surgeons suffer difficulties in utilizing the method. Robotic surgery has been constituted as the answer to remove the difficulties yet retain the advantages.
    In the so-called robotic surgery, the tool is handed to a robotic arm, i.e., the slave robot, which is installed and positioned at the bed side. The surgeon sits before a comfortable console and uses a joystick-like robot, i.e., the master robot, to manipulate the slave robot. The vision is also provided by a robotic camera holder and shown in a screen in front of the surgeon.
    However, robotic surgery systems developed so far have important shortcomings such as lack of haptic sensation or weak force feedback from the internal organs and the incapability to perform large organ surgery. The aim of this dissertation is bilateral control of a laparoscopic robotic surgery system with haptic feedback. This system was designed and fabricated for the surgery of large organs in Robotic Surgery Center of Imam Khomeini hospital. Control objectives to be achieved in this system are: providing real surgery condition for the surgeon and position tracking of the master robot by the slave robot.
    In the first Part of this dissertation, the mentioned system was simulated in virtual reality environment of MATLAB software with considering 5 degrees of freedom. Damping control method has been utilized for bilateral control of proposed model. In the second part of study, 1 DOF needle insertion process in a large organ was considered. Robust control theory has been utilized for bilateral control of the model. With comparing different bilateral control architectures, the best controller has been designed by the µ synthesis method. For implementing the designed controller, identification of friction model of robots joints, actuators and trocar is the last work of this dissertation
  9. Keywords:
  10. Laparoscopic Surgery ; Robotic Surgery ; Robust Control ; Robotic Telesurgery ; Haptic System ; Damping Control

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