Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot

Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots. Thus, sensing the force of the surgical instruments located at the end of the s...

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Autores principales:	Hu Shi, Boyang Zhang, Xuesong Mei, Qichun Song
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	minimally invasive surgical robot force measurement force feedback impedance control force control Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/0b8777aebd464b36829197266c27c8c7
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spelling	oai:doaj.org-article:0b8777aebd464b36829197266c27c8c72021-11-25T18:56:59ZRealization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot10.3390/s212274891424-8220https://doaj.org/article/0b8777aebd464b36829197266c27c8c72021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7489https://doaj.org/toc/1424-8220Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots. Thus, sensing the force of the surgical instruments located at the end of the slave manipulator through the main manipulator is critical to the operation. This study mainly addressed the force detection of the surgical instrument and force feedback control of the serial surgical robotic arm. A measurement device was developed to record the tool end force from the slave manipulator. An elastic element with an orthogonal beam structure was designed to sense the strain induced by force interactions. The relationship between the acting force and the output voltage was obtained through experiment, and the three-dimensional force output was decomposed using an extreme learning machine algorithm while considering the nonlinearity. The control of the force from the slave manipulator end was achieved. An impedance control strategy was adopted to restrict the force interaction amplitude. Modeling, simulation, and experimental verification were completed on the serial robotic manipulator platform along with virtual control in the MATLAB/Simulink software environment. The experimental results show that the measured force from the slave manipulator can provide feedback for impedance control with a delay of 0.15 s.Hu ShiBoyang ZhangXuesong MeiQichun SongMDPI AGarticleminimally invasive surgical robotforce measurementforce feedbackimpedance controlforce controlChemical technologyTP1-1185ENSensors, Vol 21, Iss 7489, p 7489 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	minimally invasive surgical robot force measurement force feedback impedance control force control Chemical technology TP1-1185
spellingShingle	minimally invasive surgical robot force measurement force feedback impedance control force control Chemical technology TP1-1185 Hu Shi Boyang Zhang Xuesong Mei Qichun Song Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot
description	Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots. Thus, sensing the force of the surgical instruments located at the end of the slave manipulator through the main manipulator is critical to the operation. This study mainly addressed the force detection of the surgical instrument and force feedback control of the serial surgical robotic arm. A measurement device was developed to record the tool end force from the slave manipulator. An elastic element with an orthogonal beam structure was designed to sense the strain induced by force interactions. The relationship between the acting force and the output voltage was obtained through experiment, and the three-dimensional force output was decomposed using an extreme learning machine algorithm while considering the nonlinearity. The control of the force from the slave manipulator end was achieved. An impedance control strategy was adopted to restrict the force interaction amplitude. Modeling, simulation, and experimental verification were completed on the serial robotic manipulator platform along with virtual control in the MATLAB/Simulink software environment. The experimental results show that the measured force from the slave manipulator can provide feedback for impedance control with a delay of 0.15 s.
format	article
author	Hu Shi Boyang Zhang Xuesong Mei Qichun Song
author_facet	Hu Shi Boyang Zhang Xuesong Mei Qichun Song
author_sort	Hu Shi
title	Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot
title_short	Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot
title_full	Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot
title_fullStr	Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot
title_full_unstemmed	Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot
title_sort	realization of force detection and feedback control for slave manipulator of master/slave surgical robot
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/0b8777aebd464b36829197266c27c8c7
work_keys_str_mv	AT hushi realizationofforcedetectionandfeedbackcontrolforslavemanipulatorofmasterslavesurgicalrobot AT boyangzhang realizationofforcedetectionandfeedbackcontrolforslavemanipulatorofmasterslavesurgicalrobot AT xuesongmei realizationofforcedetectionandfeedbackcontrolforslavemanipulatorofmasterslavesurgicalrobot AT qichunsong realizationofforcedetectionandfeedbackcontrolforslavemanipulatorofmasterslavesurgicalrobot
_version_	1718410505080537088

Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot

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