Adaptive Control Strategy for a Bilateral Tele- Surgery System Interacting with Active Soft Tissues

Document Type : Research Article

Authors

1 Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran

Abstract

In this paper, the problem of control and stabilization of a bilateral tele-surgery robotic
system in interaction with an active soft tissue is considered. To the best of the authors’ knowledge, the
previous works did not consider a realistic model for a moving soft tissue like heart tissue in beating heart
surgery. Here, a new model is proposed to indicate significant characteristics of a moving soft tissue,
rolling as the teleoperation system environment. The model is formed by a parallel combination of a
viscoelastic passive part and an active part. Furthermore, the delays in communication and parameter
uncertainties of the master and slave robot dynamics are considered. Using an adaptive control strategy,
the ultimate boundedness of the system trajectories while interacting with the active environment is
certified, and this ultimate bound is calculated. Moreover, to evaluate the theoretical results, simulation
results are presented.

Highlights

[1] N. Chopra, M.W. Spong, R. Lozano, Synchronization of bilateral teleoperators with time delay, Automatica, 44(8) (2008) 2142-2148.

[2] N. Chopra, M.W. Spong, Passivity-based control of multi-agent systems, in:  Advances in robot control, Springer, 2006, pp. 107-134.

 [3] N. Chopra, M.W. Spong, R. Ortega, N.E. Barabanov, On tracking performance in bilateral teleoperation, IEEE Transactions on Robotics, 22(4) (2006) 861-866.

[4] X. Liu, M. Tavakoli, Inverse dynamics-based adaptive control of nonlinear bilateral teleoperation systems, in:  Robotics and Automation (ICRA), 2011 IEEE International Conference on, IEEE, 2011, pp. 1323-1328.

[5] X. Liu, R. Tao, M. Tavakoli, Adaptive control of uncertain nonlinear teleoperation systems, Mechatronics, 24(1) (2014) 66-78.

[6] N. Chopra, M.W. Spong, R. Lozano, Synchronization of bilateral teleoperators with time delay, Automatica, 44(8) (2008) 2142-2148.

[7] E. Nuño, R. Ortega, L. Basañez, An adaptive controller for nonlinear teleoperators, Automatica, 46(1) (2010) 155-159.

[8] I.G. Polushin, P.X. Liu, C.-H. Lung, G.D. On, Position-error based schemes for bilateral teleoperation with time delay: theory and experiments, Journal of dynamic systems, measurement, and control, 132(3) (2010) 031008.

[9] C.-C. Hua, X.P. Liu, Delay-dependent stability criteria of teleoperation systems with asymmetric time-varying delays, IEEE Transactions on Robotics, 26(5) (2010) 925-932.

[10] F. Hashemzadeh, M. Tavakoli, Position and force tracking in nonlinear teleoperation systems under varying delays, Robotica, 33(4) (2015) 1003-1016.

[11] P. Moreira, N. Zemiti, C. Liu, P. Poignet, Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation, Computer methods and programs in biomedicine, 116(2) (2014) 52-67.

[12] L. Loeffler, K. Sagawa, A one-dimensional viscoelastic model of cat heart muscle studied by small length perturbations during isometric contraction, Circulation research, 36(4) (1975) 498-512.

[13] Y.-c. Fung, Biomechanics: mechanical properties of living tissues, Springer Science & Business Media, 2013.

[14] L. Barbé, B. Bayle, M. de Mathelin, A. Gangi, In vivo model estimation and haptic characterization of needle insertions, The International Journal of Robotics Research, 26(11-12) (2007) 1283-1301.

[15] W. Bachta, P. Renaud, E. Laroche, A. Forgione, J. Gangloff, Cardiolock: An active cardiac stabilizer. First in vivo experiments using a new robotized device, Computer Aided Surgery, 13(5) (2008) 243-254.

[16] F.L. Lewis, C.T. Abdallah, D.M. Dawson, Control of robot manipulators, Macmillan New York, 1993.

[17] P. Moreira, C. Liu, N. Zemiti, P. Poignet, Soft tissue force control using active observers and viscoelastic interaction model, in:  Robotics and Automation (ICRA), 2012 IEEE International Conference on, IEEE, 2012, pp. 4660-4666.

[18] H.K. Khalil, Nonlinear systems. 2002, ISBN, 130673897 (2002) 9780130673893.

 [19] P. Jordan, S. Socrate, T. Zickler, R. Howe, Constitutive modeling of porcine liver in indentation using 3D ultrasound imaging, Journal of the mechanical behavior of biomedical materials, 2(2) (2009) 192-201.

[20] Y. Kobayashi, A. Onishi, H. Watanabe, T. Hoshi, K. Kawamura, M.G. Fujie, In vitro validation of viscoelastic and nonlinear physical model of liver for needle insertion simulation, in:  Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS & EMBS International Conference on, IEEE, 2008, pp. 469-476.

[21] S. Bhasin, K. Dupree, P.M. Patre, W.E. Dixon, Neural network control of a robot interacting with an uncertain viscoelastic environment, IEEE Transactions on Control Systems Technology, 19(4) (2011) 947-955.

[22] M. Sharifi, H.A. Talebi, Adaptive control of a telerobotic surgery system interacting with non-passive soft tissues, in:  Control, Instrumentation, and Automation (ICCIA), 2016 4th International Conference on, IEEE, 2016, pp. 214-219.

Keywords

References

[1] N. Chopra, M.W. Spong, R. Lozano, Synchronization of bilateral teleoperators with time delay, Automatica, 44(8) (2008) 2142-2148.
[2] N. Chopra, M.W. Spong, Passivity-based control of multi-agent systems, in:  Advances in robot control, Springer, 2006, pp. 107-134.
 [3] N. Chopra, M.W. Spong, R. Ortega, N.E. Barabanov, On tracking performance in bilateral teleoperation, IEEE Transactions on Robotics, 22(4) (2006) 861-866.
[4] X. Liu, M. Tavakoli, Inverse dynamics-based adaptive control of nonlinear bilateral teleoperation systems, in:  Robotics and Automation (ICRA), 2011 IEEE International Conference on, IEEE, 2011, pp. 1323-1328.
[5] X. Liu, R. Tao, M. Tavakoli, Adaptive control of uncertain nonlinear teleoperation systems, Mechatronics, 24(1) (2014) 66-78.
[6] N. Chopra, M.W. Spong, R. Lozano, Synchronization of bilateral teleoperators with time delay, Automatica, 44(8) (2008) 2142-2148.
[7] E. Nuño, R. Ortega, L. Basañez, An adaptive controller for nonlinear teleoperators, Automatica, 46(1) (2010) 155-159.
[8] I.G. Polushin, P.X. Liu, C.-H. Lung, G.D. On, Position-error based schemes for bilateral teleoperation with time delay: theory and experiments, Journal of dynamic systems, measurement, and control, 132(3) (2010) 031008.
[9] C.-C. Hua, X.P. Liu, Delay-dependent stability criteria of teleoperation systems with asymmetric time-varying delays, IEEE Transactions on Robotics, 26(5) (2010) 925-932.
[10] F. Hashemzadeh, M. Tavakoli, Position and force tracking in nonlinear teleoperation systems under varying delays, Robotica, 33(4) (2015) 1003-1016.
[11] P. Moreira, N. Zemiti, C. Liu, P. Poignet, Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation, Computer methods and programs in biomedicine, 116(2) (2014) 52-67.
[12] L. Loeffler, K. Sagawa, A one-dimensional viscoelastic model of cat heart muscle studied by small length perturbations during isometric contraction, Circulation research, 36(4) (1975) 498-512.
[13] Y.-c. Fung, Biomechanics: mechanical properties of living tissues, Springer Science & Business Media, 2013.
[14] L. Barbé, B. Bayle, M. de Mathelin, A. Gangi, In vivo model estimation and haptic characterization of needle insertions, The International Journal of Robotics Research, 26(11-12) (2007) 1283-1301.
[15] W. Bachta, P. Renaud, E. Laroche, A. Forgione, J. Gangloff, Cardiolock: An active cardiac stabilizer. First in vivo experiments using a new robotized device, Computer Aided Surgery, 13(5) (2008) 243-254.
[16] F.L. Lewis, C.T. Abdallah, D.M. Dawson, Control of robot manipulators, Macmillan New York, 1993.
[17] P. Moreira, C. Liu, N. Zemiti, P. Poignet, Soft tissue force control using active observers and viscoelastic interaction model, in:  Robotics and Automation (ICRA), 2012 IEEE International Conference on, IEEE, 2012, pp. 4660-4666.
[18] H.K. Khalil, Nonlinear systems. 2002, ISBN, 130673897 (2002) 9780130673893.
 [19] P. Jordan, S. Socrate, T. Zickler, R. Howe, Constitutive modeling of porcine liver in indentation using 3D ultrasound imaging, Journal of the mechanical behavior of biomedical materials, 2(2) (2009) 192-201.
[20] Y. Kobayashi, A. Onishi, H. Watanabe, T. Hoshi, K. Kawamura, M.G. Fujie, In vitro validation of viscoelastic and nonlinear physical model of liver for needle insertion simulation, in:  Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS & EMBS International Conference on, IEEE, 2008, pp. 469-476.
[21] S. Bhasin, K. Dupree, P.M. Patre, W.E. Dixon, Neural network control of a robot interacting with an uncertain viscoelastic environment, IEEE Transactions on Control Systems Technology, 19(4) (2011) 947-955.
[22] M. Sharifi, H.A. Talebi, Adaptive control of a telerobotic surgery system interacting with non-passive soft tissues, in:  Control, Instrumentation, and Automation (ICCIA), 2016 4th International Conference on, IEEE, 2016, pp. 214-219.
AUT Journal of Modeling and Simulation
Volume 49, Issue 2
December 2017
Pages 209-216

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