Implementation of Bilateral Control System Based on Acceleration Control Using FPGA for Multi-DOF Haptic Endoscopic Surgery Robot
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 calcu...
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| Veröffentlicht in: | IEEE transactions on industrial electronics (1982) 2009-03, Vol.56 (3), p.618-627 |
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| creator | Tanaka, H. Ohnishi, K. Nishi, H. Kawai, T. Morikawa, Y. Ozawa, S. Furukawa, T. |
| description | 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 multidegree 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. |
| doi_str_mv | 10.1109/TIE.2008.2005710 |
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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 multidegree 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.</description><identifier>ISSN: 0278-0046</identifier><identifier>EISSN: 1557-9948</identifier><identifier>DOI: 10.1109/TIE.2008.2005710</identifier><identifier>CODEN: ITIED6</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Acceleration ; Acceleration control ; bilateral control ; Control systems ; Degrees of freedom ; Endoscopes ; Error correction ; Field programmable gate arrays ; field-programmable gate array (FPGA) ; Haptic interfaces ; Master-slave ; Mathematical analysis ; Process control ; Programmable logic controllers ; Robot control ; Robots ; Sampling ; Sampling methods ; Surgery ; surgical robot</subject><ispartof>IEEE transactions on industrial electronics (1982), 2009-03, Vol.56 (3), p.618-627</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2009</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c451t-4a99c6103a68a21e4a5c076361682e8519da201ba4edfae85f596e9d2db87a303</citedby><cites>FETCH-LOGICAL-c451t-4a99c6103a68a21e4a5c076361682e8519da201ba4edfae85f596e9d2db87a303</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4639511$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,792,27901,27902,54733</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4639511$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Tanaka, H.</creatorcontrib><creatorcontrib>Ohnishi, K.</creatorcontrib><creatorcontrib>Nishi, H.</creatorcontrib><creatorcontrib>Kawai, T.</creatorcontrib><creatorcontrib>Morikawa, Y.</creatorcontrib><creatorcontrib>Ozawa, S.</creatorcontrib><creatorcontrib>Furukawa, T.</creatorcontrib><title>Implementation of Bilateral Control System Based on Acceleration Control Using FPGA for Multi-DOF Haptic Endoscopic Surgery Robot</title><title>IEEE transactions on industrial electronics (1982)</title><addtitle>TIE</addtitle><description>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 multidegree 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.</description><subject>Acceleration</subject><subject>Acceleration control</subject><subject>bilateral control</subject><subject>Control systems</subject><subject>Degrees of freedom</subject><subject>Endoscopes</subject><subject>Error correction</subject><subject>Field programmable gate arrays</subject><subject>field-programmable gate array (FPGA)</subject><subject>Haptic interfaces</subject><subject>Master-slave</subject><subject>Mathematical analysis</subject><subject>Process control</subject><subject>Programmable logic controllers</subject><subject>Robot control</subject><subject>Robots</subject><subject>Sampling</subject><subject>Sampling methods</subject><subject>Surgery</subject><subject>surgical robot</subject><issn>0278-0046</issn><issn>1557-9948</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2009</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNqF0b9v1DAUB3ALgcTRsiOxWAwwpX2Of8Qer8dde1JREW1ny5e8VKmSONjOcGP_8_q4wsAAi21Zn-fnpy8hHxicMQbm_G67PisB9GGRFYNXZMGkrApjhH5NFlBWugAQ6i15F-MjABOSyQV52g5TjwOOyaXOj9S39KLrXcLgerryYwq-p7f7mHCgFy5iQzNa1jX2Wfyq-I3uYzc-0M33yyVtfaDf5j51xdebDb1yU-pquh4bH2s_5ePtHB4w7OkPv_PplLxpXR_x_ct-Qu4367vVVXF9c7ldLa-LOv80FcIZUysG3CntSobCyRoqxRVTukQtmWlcCWznBDatyxetNApNUzY7XTkO_IR8Ob47Bf9zxpjs0MU8R-9G9HO0BrgqtTbVf6VWJvfjlcjy8z8lF0LySpUZfvoLPvo5jHleq2UlpAB16AtHVAcfY8DWTqEbXNhbBvYQss0h20PI9iXkXPLxWNIh4h8uFDeSMf4M-omh8Q</recordid><startdate>20090301</startdate><enddate>20090301</enddate><creator>Tanaka, H.</creator><creator>Ohnishi, K.</creator><creator>Nishi, H.</creator><creator>Kawai, T.</creator><creator>Morikawa, Y.</creator><creator>Ozawa, S.</creator><creator>Furukawa, T.</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>8FD</scope><scope>L7M</scope><scope>F28</scope><scope>FR3</scope></search><sort><creationdate>20090301</creationdate><title>Implementation of Bilateral Control System Based on Acceleration Control Using FPGA for Multi-DOF Haptic Endoscopic Surgery Robot</title><author>Tanaka, H. ; Ohnishi, K. ; Nishi, H. ; Kawai, T. ; Morikawa, Y. ; Ozawa, S. ; Furukawa, T.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c451t-4a99c6103a68a21e4a5c076361682e8519da201ba4edfae85f596e9d2db87a303</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Acceleration</topic><topic>Acceleration control</topic><topic>bilateral control</topic><topic>Control systems</topic><topic>Degrees of freedom</topic><topic>Endoscopes</topic><topic>Error correction</topic><topic>Field programmable gate arrays</topic><topic>field-programmable gate array (FPGA)</topic><topic>Haptic interfaces</topic><topic>Master-slave</topic><topic>Mathematical analysis</topic><topic>Process control</topic><topic>Programmable logic controllers</topic><topic>Robot control</topic><topic>Robots</topic><topic>Sampling</topic><topic>Sampling methods</topic><topic>Surgery</topic><topic>surgical robot</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Tanaka, H.</creatorcontrib><creatorcontrib>Ohnishi, K.</creatorcontrib><creatorcontrib>Nishi, H.</creatorcontrib><creatorcontrib>Kawai, T.</creatorcontrib><creatorcontrib>Morikawa, Y.</creatorcontrib><creatorcontrib>Ozawa, S.</creatorcontrib><creatorcontrib>Furukawa, T.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><jtitle>IEEE transactions on industrial electronics (1982)</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Tanaka, H.</au><au>Ohnishi, K.</au><au>Nishi, H.</au><au>Kawai, T.</au><au>Morikawa, Y.</au><au>Ozawa, S.</au><au>Furukawa, T.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Implementation of Bilateral Control System Based on Acceleration Control Using FPGA for Multi-DOF Haptic Endoscopic Surgery Robot</atitle><jtitle>IEEE transactions on industrial electronics (1982)</jtitle><stitle>TIE</stitle><date>2009-03-01</date><risdate>2009</risdate><volume>56</volume><issue>3</issue><spage>618</spage><epage>627</epage><pages>618-627</pages><issn>0278-0046</issn><eissn>1557-9948</eissn><coden>ITIED6</coden><abstract>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 multidegree of freedom system by using field programmable gate arrays as processors. 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| subjects | Acceleration Acceleration control bilateral control Control systems Degrees of freedom Endoscopes Error correction Field programmable gate arrays field-programmable gate array (FPGA) Haptic interfaces Master-slave Mathematical analysis Process control Programmable logic controllers Robot control Robots Sampling Sampling methods Surgery surgical robot |
| title | Implementation of Bilateral Control System Based on Acceleration Control Using FPGA for Multi-DOF Haptic Endoscopic Surgery Robot |
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