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The International Journal of Robotics Research
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28/10/1289    most recent
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Haptic Effects of Surgical Teleoperator Flexibility

M. Tavakoli

Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada, tavakoli{at}ece.ualberta.ca

Robert D. Howe

BioRobotics Laboratory, School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA, howe{at}seas.harvard.edu

Minimally invasive surgery systems typically involve thin and cable-driven surgical instruments. This introduces link and joint flexibility in the slave robot of a master—slave teleoperation system, reducing the effective stiffness of the slave and the transparency of teleoperation. In this paper, we analyze transparency under slave link and joint flexibility (tool flexibility). We also evaluate the added benefits of using extra sensors at the tip of the flexible robot. It is shown that tip velocity (or position) feedback improves free-space position tracking performance in the presence of robot flexibility. Also, when the interaction forces with an environment are measured by a force sensor and fed back to the user’s hand, tip velocity feedback improves hard-contact force tracking performance. During a hard contact task, tip velocity feedback can also eliminate the transmission of robot flexibility to the user’s hand.

Key Words: haptic surgery teleoperation • link flexibility • joint flexibility • transparency • stability

This version was published on October 1, 2009

The International Journal of Robotics Research, Vol. 28, No. 10, 1289-1302 (2009)
DOI: 10.1177/0278364909101231
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