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Design and Implementation of a Controller to Handle Time Delay in a Tele-surgery Robotic System

Mohtasham, Khadijeh | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 44815 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Behzadipour, Saeed
  7. Abstract:
  8. The idea of using master_salve robot in Surgical, entered the medical science in a new phase.The surgeon uses the master to perform arbitary actions and slave follow the movements of the master robot in the envirement.To increase the accuracy, it is necessary to transfer information between the robots in both directions, from master to slave and vice versa, that means bilateral teleoperation. But time delay is a serious problem for bilateral teleoperation systems. Even a small time delay will generally degrade the system’s performance and cause instability.Wave variable method based on passivity and scattering theory is an important approach that guarantees stability in the presence of any constant time delay. In this thesis, wave vaiable method have been applied independently to a four degree of freedom master-slave robot that they have different kinematics.In the first step,different bilateral architeture based on wave variable was simultaed for the linear motion in simulink envirement of MATLAB software and then force feedback model (DFR) was applied in all degrees of freedom of robots in simmechanics environment of MATLAB.As a final step, the simulations was implemented on a master_slave system in robotic surgery center of Imam Khomeini Hospital and acceptable results were obtained
  9. Keywords:
  10. Time Delay ; Master-Slave Robots ; Force Feedback ; Wave Variable ; Robotic Telesurgery

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