Haptic Effects of Surgical Teleoperator Flexibility

Authors:
M. Tavakoli;Robert D. Howe
Affiliations:
Department of Electrical and Computer Engineering, Universityof Alberta, Edmonton, AB, Canada;BioRobotics Laboratory, School of Engineering and AppliedSciences, Harvard University, Cambridge, MA, USA
Venue:
International Journal of Robotics Research
Year:
2009

Citing 9
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Abstract

Minimally invasive surgery systems typically involve thin and cable-driven surgical instruments. This introduces link and joint flexibility in the slave robot of a masterâ聙聰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 userâ聙聶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 userâ聙聶s hand.