A Multilateral Impedance-Controlled System for Haptics-Enabled Surgical Training and Cooperation in Beating-Heart Surgery

• Author(s) / Creator(s)

  • Lingbo Cheng, Mahdi Tavakoli

• In this paper, an impedance-controlled multi-master/single-slave telerobotic system is developed for
  haptics-enabled surgical training and cooperation in beating-heart surgery. This system not only can enable
  automatically motion compensation for the beating heart’s motion as well as non-oscillatory force feedback to the
  human operators but can also enable training and cooperation for multiple users. A multi-user shared control
  architecture is developed, and a multilateral impedance-controlled strategy is employed for this architecture. The
  desired objectives of the proposed system are a) providing position guidance to the trainees during training procedure,
  b) providing force feedback to all human operators (trainer and trainees) regardless of their levels of authority over
  the slave robot, c) motion compensation for the heart’s motion, and d) reflecting only the non-oscillatory force portion
  of the slave-heart tissue interaction force to all human operators. To this end, virtual fixtures and a dominance factor
  are introduced, and a reference impedance model with adjusted parameters is designed for each master or slave robot.
  The proposed impedance-based control methodology is evaluated experimentally. The experimental results
  demonstrated that the proposed method could be used for surgical training and cooperation in beating-heart surgery
  by providing appropriate position guidance and environmental force feedback to the human operators.

• Date created

  2019-01-01

• Subjects / Keywords

  • Motion compensation
  • haptic feedback
  • impedance model
  • teleoperation system
  • medical robots

• Type of Item

  Article (Published)

• DOI

  https://doi.org/10.7939/r3-vxme-ed77

• License

  Attribution-NonCommercial 4.0 International