슬라이딩 섭동 관측기를 이용한 수술용 로봇 인스트루먼트의 반력 추정 가능성 평가
Evaluation of a Possibility of Estimation of Reaction Force of Surgical Robot Instrument using Sliding Perturbation Observer
0
조회
0
다운로드
3
인용
0
참고문헌
키워드
초록
In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.
Abstract
In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.
참고문헌 (11)
- "EndoWrist Instrument catalogue"[URL]
- J. Bodner, "First experiences with the da VinciTM operating robot in thoracic surgery", European Journal of Cardio-Thoracic Surgery, 25(25), pp.844~851 (2004)
- T. K. Lee, "Modeling of torque transmission characteristicsin surgical robot", ICROS-SICE InternationalJoint Conference 2009, pp.2617~2620 (2009)
- 이태경, "Friction Analysis According to Pretension of Laparoscopy Surgical Robot Instrument", International Journal of Precision Engineering and Manufacturing, 12(2), pp.259~266 (2011), 한국정밀공학회
- Y. E. Song, "Sliding Mode Control with Sliding Perturbation Observer for Surgical Robots", Proceedings of ISIE 2009, pp.2153~2158 (2009)
- M. C. Lee, "Reaction Force Estimation of Surgical Robot Instrument Using Perturbation Observer with SMCSPO Algorithm", Proceedings of AIM(2010), pp.181~186 (2010)
- 김지언, "A Study on State and Perturbation Observers of the Controller of Surgical Robot Instrument", 2011 8th Asian Control Conference, pp.553~557 (2011), IEEE[DOI]
- H. Elmali, "Sliding Mode Control With Perturbation Estimation(SMCSPE)", International Journal of Control, 56, pp.923~941 (1992)
- M. J. Terra, "Sliding Mode Control With Perturbation Observer", Journal of Dynamic System, Mesurement, and Control, 119, pp.657~665 (1997)
- Min Cheol Lee, "Sliding Mode Controller with Sliding Perturbation Observer Based on Gain Optimization using Genetic Algorithm", Journal of Mechanical Science and Technology, 18(4), pp.630~639 (2004), 대한기계학회
- J. J. Slotine, "On Sliding Observers for Non-Linear Systems", ASME Journal of Dynamic System, Measurementand Control, 109, pp.245~252 (1987)