Development of flexible haptic forceps based on the electrohydraulic transmission system
- Authors: Ogawa, Kenji , Ibrahim, Yousef , Ohnishi, Kouhei
- Date: 2018
- Type: Text , Journal article
- Relation: IEEE Transactions on Industrial Informatics Vol. 14, no. 12 (2018), p. 5256-5267
- Full Text: false
- Reviewed:
- Description: Minimally invasive surgery (MIS) has many benefits, e.g., unnecessary trauma and blood loss can be minimized by opening tiny surgery scars, recovery process of patients can be lessened, and the possibilities of complications can be decreased. The natural orifice transluminal surgery (NOTES) is one of the MIS surgical methodologies. NOTES surgery is performed using an endoscope. This methodology does not rely on making holes to patients' body to insert the medical instruments. Although some medical robots for NOTES have been proposed, current robots mainly suffer from the absence/limitation of haptic feedback to the surgeon's hands. In order to overcome this problem, this paper proposes electro hydraulic transmission system (EHTS) based forceps. The EHTS is a remote actuation system using fluid energy. By using the EHTS, the classical position and force transmission losses will not be influenced by the tube's shape. The validity of the proposal and its advantages have been experimentally verified and presented in this paper.
Development of flexible haptic forceps based on the electrohydraulic transmission system
- Authors: Ogawa, Kenji , Ibrahim, Yousef , Ohnishi, Kouhei
- Date: 2018
- Type: Text , Journal article
- Relation: IEEE Transactions on Industrial Informatics Vol. 14, no. 12 (2018), p. 5256-5267
- Full Text: false
- Reviewed:
- Description: Minimally invasive surgery (MIS) has many benefits, e.g., unnecessary trauma and blood loss can be minimized by opening tiny surgery scars, recovery process of patients can be lessened, and the possibilities of complications can be decreased. The natural orifice transluminal surgery (NOTES) is one of the MIS surgical methodologies. NOTES surgery is performed using an endoscope. This methodology does not rely on making holes to patients' body to insert the medical instruments. Although some medical robots for NOTES have been proposed, current robots mainly suffer from the absence/limitation of haptic feedback to the surgeon's hands. In order to overcome this problem, this paper proposes electro hydraulic transmission system (EHTS) based forceps. The EHTS is a remote actuation system using fluid energy. By using the EHTS, the classical position and force transmission losses will not be influenced by the tube's shape. The validity of the proposal and its advantages have been experimentally verified and presented in this paper.
New state observer gain tuning methodology based on the stable margin theory
- Authors: Ogawa, Kenji , Ohnishi, Kouhei , Ibrahim, Yousef
- Date: 2017
- Type: Text , Conference proceedings , Conference paper
- Relation: 2017 IEEE International Conference on Industrial Technology, ICIT 2017; Toronto, Canada; 23rd-25th March 2017 p. 677-682
- Full Text: false
- Reviewed:
- Description: This paper proposes a new observer gain tuning methodology to achieve a robust position control. The state observer is often used to estimate the state of the system. Generally, the observer gain is tuned by an evaluation function and the operator needs to arbitrarily select a weight function to obtain an optimal observer gain. This paper introduces a methodology for observer gain tuning using the stability margin theory. In addition, the state observer is combined with the Disturbance Observer (DOB) to achieve a robust position control. The validity of the proposed methodology was tested and confirmed by simulations and experimental study. © 2017 IEEE.
- Description: Proceedings of the IEEE International Conference on Industrial Technology
Robust force control with a novel gain tuning methodology based on the stable margin theory
- Authors: Ogawa, Kenji , Ohnishi, Kouhei , Ibrahim, Yousef
- Date: 2017
- Type: Text , Conference paper
- Relation: 2017 IEEE 26th International Symposium on Industrial Electronics (ISIE) p. 1123-1128
- Full Text: false
- Reviewed:
- Description: This paper proposes a force control system using the State Observer Based Disturbance Observer (SO-DOB) and the State Observer Based Reaction Force Observer (SO-RFOB) based on the novel observer gain tuning methodology. The observer gain tuning methodology is based on the stable margin theory. By using the proposed gain tuning methodology, the system stability and the robustness of the SO-DOB and the SO-RFOB is guaranteed. The validity of the proposed method was tested by both simulation and the experiment works. From the results, the control performance was improved compared with the DOB and the RFOB based on the Low Pass Filter (LPF) based estimation.