KFU. Card publication. External Force Estimation of Impedance Type Driven Mechanism for Surgical Robot with Kalman Filter

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EXTERNAL FORCE ESTIMATION OF IMPEDANCE TYPE DRIVEN MECHANISM FOR SURGICAL ROBOT WITH KALMAN FILTER

Form of presentation

Conference proceedings in Russian journals and collections

Year of publication

2019

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Li H., Wang K., Li Z., Kawashima K., & Magid E. External Force Estimation of Impedance Type Driven Mechanism for Surgical Robot with Kalman Filter // 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) (Kuala Lumpur, Malaysia, Malaysia; 12-15 December 2018) - p. 2214-2219.

Annotation

Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics

Keywords

Sensorless external force estimation, Kalman filter, robot surgery

The name of the journal

Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics

URL

https://ieeexplore.ieee.org/document/8664753

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257441&p_lang=2

Resource files

File name	Size (MB)	Format
F_2019_External_Force_Estimation_of_Impedance_Type_Driven_Mechanism_for_Surgical_Robot_with_Kalman_Filter.pdf	1,07	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2019-01-01T00:00:00Z	ru_RU
dc.date.available	2019-01-01T00:00:00Z	ru_RU
dc.date.issued	2019	ru_RU
dc.identifier.citation	Li H., Wang K., Li Z., Kawashima K., & Magid E. External Force Estimation of Impedance Type Driven Mechanism for Surgical Robot with Kalman Filter // 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO) (Kuala Lumpur, Malaysia, Malaysia; 12-15 December 2018) - p. 2214-2219.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257441&p_lang=2	ru_RU
dc.description.abstract	Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics	ru_RU
dc.description.abstract	Haptic feedback has been proved the importance in the surgical robot system, however, such function is missing in current commercially available minimally invasive surgical robot system. To address this issue, many surgical forceps have been designed and developed to provide the sense of contact forces to the surgeon during surgical manipulation. However, to data, there are no commercially available surgical forceps with hapticperception because of the disadvantages of such physical-sensing devices. No matter what sensing algorithm it utilized, there are always physical constraints related to the force sensors. This study presents concepts and application of a Kalman filter for the control of robot handle force during contact with the external environment. The external contact force in the system was estimated by parameter estimation techniques to the robot actuators. The method is described and its effectiveness is shown for a one degree-of-freedom robot.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Sensorless external force estimation	ru_RU
dc.subject	Kalman filter	ru_RU
dc.subject	robot surgery	ru_RU
dc.title	External Force Estimation of Impedance Type Driven Mechanism for Surgical Robot with Kalman Filter	ru_RU
dc.type	Conference proceedings in Russian journals and collections	ru_RU