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Stability Analysis for a Surgical Simulator

Magana Flores, Alejandro Erick (2013) Stability Analysis for a Surgical Simulator. DLR-Interner Bericht. DLR-IB 572-2013/27. Diploma. Technische Universität Dresden.

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The MiRo system developed at the DLR for teleoperated surgeries, allows a surgeon to operate a patient from a remote location using the high accuracy and precision of its robotic arms. Nevertheless the development, implementation and use of such complex systems can be time and cost expensive. These problems can be solved by replacing the robotic arms and operational environment with a virtual reality. One of the major challenges of coupling a human operator with virtual environments lies on resembling the reality as good as possible to the user while guaranteeing stable interaction. Some works have already dealt with these questions and have proposed approaches such as virtual coupling for effectively communicating collision forces between user and VE. This thesis investigates the use of this approach by taking into account a virtual mass in the virtual environment. This enhancement not only provides force-feedback to the user when collisions occur, but also comprises the dynamic mass of the considered virtual object using virtual coupling. The investigated approach by this thesis considers the exact effect of time discretisation and time delays. Based on a unified time-discrete model of the considered system this thesis presents the virtual coupling’s stability boundaries, which show a high dependency on the virtual mass and time delays in the system. Furthermore a design analysis suggests optimal parameters for diverse implementations. Finally the results are validated by suitable experiments using an Omega.7 haptic device and a simulated environment.

Item URL in elib:https://elib.dlr.de/86384/
Document Type:Monograph (DLR-Interner Bericht, Diploma)
Title:Stability Analysis for a Surgical Simulator
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:11 December 2013
Refereed publication:No
Open Access:No
Keywords:stability analysis, control design, two mass system, surgical simulator, MiRo, haptic control
Institution:Technische Universität Dresden
Department:Fakultät Elektrotechnik und Informationstechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Hulin, Dr. Thomas
Deposited On:11 Dec 2013 16:19
Last Modified:11 Dec 2013 17:04

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