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In this paper, the estimation method of reaction force for electro-hydraulic servo system for movement is discussed. This reaction force estimation method is based on sliding perturbation observer that is robust observer technique. Before estimating reaction force, the modeling of electro-hydraulic servo system is processed. Before the fine modeling parameters of electro-hydraulic servo system, modeling...
Reaction force estimation is the major challenge of surgical robotic procedures. In previous research, sliding mode control with sliding perturbation observer (SMCSPO) is used to estimate the reaction force in the sensor-less system. Moreover, a fuzzy-SPO method is also proposed to separate actual reaction force in presence of dynamic disturbances. However, in both those research, some physical constraints...
In a surgery using a commercialized robot for laparoscopic surgeries such as Da Vinci, a surgeon performs a surgery only depending on visuals by cameras. As contact reaction force between a robot instrument for surgeries and organs during this kind of surgery, problems such as organ impairment, etc. occurs. In order to resolve this kind of problem, this paper introduces possibility of haptic function...
In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. For haptic realization, it requires much more information through various sensors. However, because of the special environment inside human body, it is not easy to apply sensors such as a force...
Many surgical robots adopt a tendon driven mechanism using cable and pulley to transmit the power. However, although tension is the main medium of power structurally, it is directly related with cable material characteristics including not only elastic region which make it able to use fixed spring constant but also nonlinear elastic and yielding one. Therefore, in the view point of control, it is...
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