Implementation of Bilateral Control System Based on Acceleration Control Using FPGA for Multi-DOF Haptic Endoscopic Surgery Robot

被引：87

作者：

Tanaka, Hiroyuki ^{[1
]}

Ohnishi, Kouhei ^{[1
]}

Nishi, Hiroaki ^{[1
]}

Kawai, Toshikazu ^{[2
]}

Morikawa, Yasuhide ^{[3
,4
]}

Ozawa, Soji ^{[5
]}

Furukawa, Toshiharu ^{[6
,7
]}

机构：

[1] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa 2238522, Japan

[2] Osaka Inst Technol, Dept Biomed Engn, Osaka 5358585, Japan

[3] Keio Univ, Sch Med, Tokyo 1608582, Japan

[4] Keio Univ Hosp, Tokyo 1608582, Japan

[5] Fujita Hlth Univ, Sch Med, Dept Surg, Nagoya, Aichi 4701192, Japan

[6] Keio Univ, Sch Med, Dept Surg, Tokyo 1608582, Japan

[7] Keio Univ, Grad Sch Law, Tokyo 1088345, Japan

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2009年 / 56卷 / 03期

关键词：

Acceleration control; bilateral control; field programmable gate array (FPGA); surgical robot; SENSORLESS CONTROL; MOTION CONTROL; TELEOPERATION;

D O I：

10.1109/TIE.2008.2005710

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Bilateral control systems are strongly required to apply to endoscopic surgeries. It is necessary that the system has enough degrees of freedom for applying various operation procedures including endoscopic surgery. When the degrees of freedom of the system are increased, the amount of control calculation is also increased, and it is hard to keep sampling periods short. The bilateral control systems, however, require comparatively shorter sampling periods, particularly the control system based on an acceleration control system. Hence, it is a difficult issue to increase the degrees of freedom of the bilateral control system. In this paper, the sampling period is kept short in the multi-degree of freedom system by using field programmable gate arrays as processors. The bilateral control system based on the acceleration control system is implemented in a robot system, which has 12 DOF, and some experimental results are shown, and the errors between the response of the master and slave robots are discussed.

引用

页码：618 / 627

页数：10

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