KFU. Card publication. An Admittance-Controlled Amplified Force Tracking Scheme for Collaborative Lumbar Puncture Surgical Robot System

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

AN ADMITTANCE-CONTROLLED AMPLIFIED FORCE TRACKING SCHEME FOR COLLABORATIVE LUMBAR PUNCTURE SURGICAL ROBOT SYSTEM

Form of presentation

Articles in international journals and collections

Year of publication

2022

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Other authors

Duan Ding , author

Zhang Dzhing , author

Zhou Min , author

Li Khongbin , author

Li Yuling , author

Ni Sun , author

Bibliographic description in the original language

Li H. An Admittance-Controlled Amplified Force Tracking Scheme for Collaborative Lumbar Puncture Surgical Robot System / Nie X., Duan D., Li Y., Zhang J., Zhou M., Magid E // International Journal of Medical Robotics and Computer Assisted Surgery. - 2022. - e2428. - p. 1-13.

Annotation

Background: The accurate sensing and display of the delicate needle‐tissue interaction force to the operator is desirable for needle insertion procedures. It not only plays a significant role in the surgical treatment effect, but also has a great significance in improving surgical safety and reducing the incidence of complications. However, the direct detection of the interaction force between the tissue and needle tip by placement of a force sensor is challenging owing to the constraints of miniaturisation, cost, and sterilisation. Methods: In this study, a new position‐based force‐to‐motion controller with magnified force feedback is presented to provide augmented force perception to the operator during needle insertion on the soft tissue. Furthermore, the demonstration to the position‐based low level motion controller is more suitable for needle insertion surgical requirements in the cooperative robotic system. Results: The proposed controller was experimentally validated by a collaborative lumbar puncture robotics system. Additionally, to provide hand tremor rejection for the stable manipulation of the puncture needle, it was demonstrated that the proposed amplified feedback force controller allowed a safer object interaction with the robotic needle insertion assistance. Conclusions: The results of the experiment show that a desirable interaction force profile is perceived by the operator during the overall insertion task operation. The admittance gain for the simplified admittance controller has a significant impact on the operator's ability to accurately control the applied force.

Keywords

collaborative manipulation, force perception, lumbar puncture, needle insertion

The name of the journal

The International Journal of Medical Robotics and Computer Assisted Surgery

URL

https://onlinelibrary.wiley.com/doi/10.1002/rcs.2428

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

https://repository.kpfu.ru/eng/?p_id=268038&p_lang=2

Resource files

File name	Size (MB)	Format
F_Robotics_Computer_Surgery_2022_Li_An_admittance__8208_controlled_amplified.pdf	1,79	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Duan Ding	ru_RU
dc.contributor.author	Zhang Dzhing	ru_RU
dc.contributor.author	Zhou Min	ru_RU
dc.contributor.author	Li Khongbin	ru_RU
dc.contributor.author	Li Yuling	ru_RU
dc.contributor.author	Ni Sun	ru_RU
dc.date.accessioned	2022-01-01T00:00:00Z	ru_RU
dc.date.available	2022-01-01T00:00:00Z	ru_RU
dc.date.issued	2022	ru_RU
dc.identifier.citation	Li H. An Admittance-Controlled Amplified Force Tracking Scheme for Collaborative Lumbar Puncture Surgical Robot System / Nie X., Duan D., Li Y., Zhang J., Zhou M., Magid E // International Journal of Medical Robotics and Computer Assisted Surgery. - 2022. - e2428. - p. 1-13.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=268038&p_lang=2	ru_RU
dc.description.abstract	The International Journal of Medical Robotics and Computer Assisted Surgery	ru_RU
dc.description.abstract	Background: The accurate sensing and display of the delicate needle‐tissue interaction force to the operator is desirable for needle insertion procedures. It not only plays a significant role in the surgical treatment effect, but also has a great significance in improving surgical safety and reducing the incidence of complications. However, the direct detection of the interaction force between the tissue and needle tip by placement of a force sensor is challenging owing to the constraints of miniaturisation, cost, and sterilisation. Methods: In this study, a new position‐based force‐to‐motion controller with magnified force feedback is presented to provide augmented force perception to the operator during needle insertion on the soft tissue. Furthermore, the demonstration to the position‐based low level motion controller is more suitable for needle insertion surgical requirements in the cooperative robotic system. Results: The proposed controller was experimentally validated by a collaborative lumbar puncture robotics system. Additionally, to provide hand tremor rejection for the stable manipulation of the puncture needle, it was demonstrated that the proposed amplified feedback force controller allowed a safer object interaction with the robotic needle insertion assistance. Conclusions: The results of the experiment show that a desirable interaction force profile is perceived by the operator during the overall insertion task operation. The admittance gain for the simplified admittance controller has a significant impact on the operator's ability to accurately control the applied force.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	collaborative manipulation	ru_RU
dc.subject	force perception	ru_RU
dc.subject	lumbar puncture	ru_RU
dc.subject	needle insertion	ru_RU
dc.title	An Admittance-Controlled Amplified Force Tracking Scheme for Collaborative Lumbar Puncture Surgical Robot System	ru_RU
dc.type	Articles in international journals and collections	ru_RU