A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time Delay
نویسندگان
چکیده
منابع مشابه
Time Delay Compensation Control Structure for a Robotic Teleoperation System
In this paper a time delay compensation control structure for a robot teleoperation system is presented. The structure design was made considering 1.9-seconds time delay in the communication between the remote and local stations. The objective is to control both the remote manipulator’s position and force. Force and position signals are fedback to the local station so that the human operator fe...
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This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...
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There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communicatio...
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HYPOTHESIS Robotic-assisted transaxillary surgery (RATS) for the removal of thyroid glands is feasible by surgeons in the United States. DESIGN Case report. SETTING Academic research. Patient A 53-year-old woman. INTERVENTION Total thyroidectomy via the transaxillary approach. MAIN OUTCOME MEASURE Successful completion thyroidectomy using bilateral RATS. RESULTS Right thyroid lobectom...
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ژورنال
عنوان ژورنال: Journal of Intelligent & Robotic Systems
سال: 2018
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-018-0918-1