Stable force/position control of a robotic endoscope holder for constrained tasks in nasal surgery

David Navarro Alarcon; Yunhui Liu; Peng Li

doi:10.1109/WCICA.2011.5970705

Stable force/position control of a robotic endoscope holder for constrained tasks in nasal surgery

David Navarro Alarcon, Yunhui Liu, Peng Li

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

6 Citations (Scopus)

Abstract

In this paper we employ passivity-based control techniques to guarantee the stable manipulation of a constrained robotic endoscope holder. The system's modelling and the control synthesis are realised under the port-Hamiltonian formulation. Where a desired form of the closed-loop energy is enforced such that its local equilibrium implies the application of the desired force to the environment (patient's nostril), while regulating the endoscope unconstrained position and orientation inside the nasal cavity. This allows to set a specific energetic relation between the controlled robot and the environment, which in turn means a safer interaction with the tissue. Simulation and experimental results are presented to validate the theoretical concepts.

Original language	English
Title of host publication	WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest
Pages	1195-1200
Number of pages	6
DOIs	https://doi.org/10.1109/WCICA.2011.5970705
Publication status	Published - 9 Sept 2011
Externally published	Yes
Event	2011 World Congress on Intelligent Control and Automation, WCICA 2011 - Taipei, Taiwan Duration: 21 Jun 2011 → 25 Jun 2011

Conference

Conference	2011 World Congress on Intelligent Control and Automation, WCICA 2011
Country/Territory	Taiwan
City	Taipei
Period	21/06/11 → 25/06/11

Keywords

constrained robot manipulation
force control
passivity
port-Hamiltonian systems
Surgical robotics

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications

More information

10.1109/WCICA.2011.5970705

Cite this

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title = "Stable force/position control of a robotic endoscope holder for constrained tasks in nasal surgery",

abstract = "In this paper we employ passivity-based control techniques to guarantee the stable manipulation of a constrained robotic endoscope holder. The system's modelling and the control synthesis are realised under the port-Hamiltonian formulation. Where a desired form of the closed-loop energy is enforced such that its local equilibrium implies the application of the desired force to the environment (patient's nostril), while regulating the endoscope unconstrained position and orientation inside the nasal cavity. This allows to set a specific energetic relation between the controlled robot and the environment, which in turn means a safer interaction with the tissue. Simulation and experimental results are presented to validate the theoretical concepts.",

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doi = "10.1109/WCICA.2011.5970705",

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Navarro Alarcon, D, Liu, Y & Li, P 2011, Stable force/position control of a robotic endoscope holder for constrained tasks in nasal surgery. in WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest., 5970705, pp. 1195-1200, 2011 World Congress on Intelligent Control and Automation, WCICA 2011, Taipei, Taiwan, 21/06/11. https://doi.org/10.1109/WCICA.2011.5970705

Stable force/position control of a robotic endoscope holder for constrained tasks in nasal surgery. / Navarro Alarcon, David; Liu, Yunhui; Li, Peng.
WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest. 2011. p. 1195-1200 5970705.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - In this paper we employ passivity-based control techniques to guarantee the stable manipulation of a constrained robotic endoscope holder. The system's modelling and the control synthesis are realised under the port-Hamiltonian formulation. Where a desired form of the closed-loop energy is enforced such that its local equilibrium implies the application of the desired force to the environment (patient's nostril), while regulating the endoscope unconstrained position and orientation inside the nasal cavity. This allows to set a specific energetic relation between the controlled robot and the environment, which in turn means a safer interaction with the tissue. Simulation and experimental results are presented to validate the theoretical concepts.

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Stable force/position control of a robotic endoscope holder for constrained tasks in nasal surgery

Abstract

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Keywords

ASJC Scopus subject areas

More information

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