Abstract—Endoscopic surgery is performed through a smaller incision than that is made in conventional surgery, and thus is superior in terms of reduced physical burden on the patient and shorter duration of hospitalization. To achieve this surgery, there is active research and development of surgical robots using master-slave system. However, operations without tactile sense may cause inclusion of a fatal accident. Although the master-slave system using the force feedback has been also studied, the velocity-force control algorithm is used because of guarantee of stability for close-loop system. However, velocity-force control involves the risk of causing a deviation in position between the master device and the remote robot if velocity information is missing due to network packet loss and/or the jitter of communication latency. In order to solve this problem, position-force control for an IBIS surgical robot is proposed in this study. First, the frequency characteristics of the surgical robot is measured, and it is shown that passivity is not achieved in the master or slave, and that direct connection will cause system destabilization. Next, a wave filter is designed for the proposed method based on the obtained frequency characteristics, and it is shown that implementing this method led to stabilization. Finally, a remote operation experiment shows that regardless of communication latency, the slave moves stably to the position instructed by the operator, and the reaction force detected by the slave can be transmitted to the operator.

Index Terms—teleoperation, position-force telecontrol, stabilized control, communication latency

Cite: Takanori Miyoshi, Takahiro Kanno, and Kenji Kawashima, "Position-Force Telecontrol with Wave-filter Using Teleoperation Support Robot IBIS" International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 4, pp. 496-501, April 2020. DOI: 10.18178/ijmerr.9.4.496-501

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