Predictive Force Feedback in a Teleoperated Robotic Surgical System
thesisposted on 31.07.2018 by TARAN LEONARD BATTY
In order to distinguish essays and pre-prints from academic theses, we have a separate category. These are often much longer text based documents than a paper.
A sacrificial relationship between teleoperator transparency and stability means that including force feedback into robotic surgical systems is particularly difficult. This research aims to close the gap between teleoperator transparency and stability. An environment estimation – force prediction methodology is developed which estimates the environments stiffness, damping, and non-linearity coefficients. These coefficients are then used to simulate a virtual environment, with which the haptic feedback device interacts. By creating a virtual environment localised to the haptic device, force feedback is generated via the haptic device’s own kinematics. As a result, both transparency and stability can simultaneously be improved.