Control design and stability analysis of a surgical teleoperator

摘要

This paper presents stability and performance analysis of a surgical force reflecting master slave system, which currently is under development. Telemanipulation with a stiff slave manipulator against a stiff environment like human bone materialcauses stability problems. The influence on stability depending on the hand grip of the master stick is examined. The result of the simulations with the identified parameters from the experimental setup is that a too compliant and badly damped operatorgrip of the master causes stability problems. Especially when a simple control method as the direct force measurement force reflection control is applied. Two other control methods, namely shared compliance control and impedance control, show that it ispossible to improve the stability with unchanged performance in terms of transparency and force reflection gain over certain frequency ranges.