Design and Implementation of an Emotional Learning Controller for Force Control of a Robotic Laparoscopic Instrument
Purpose: Force control of robotic instruments is a difficult task due to the uncertainties causedby changes in the instrument’s geometrical and mechanical characteristics during surgery as well as the nonlinear dynamics of the instrument. A new approach based on an intelligent controller is develope...
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| Format: | Article |
| Language: | English |
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Tehran University of Medical Sciences
2014-09-01
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| Series: | Frontiers in Biomedical Technologies |
| Subjects: | |
| Online Access: | https://fbt.tums.ac.ir/index.php/fbt/article/view/7 |
| _version_ | 1828292702395957248 |
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| author | Seyed Mohsen Khadem Saeed Behzadipour Mehrdad Boroushaki Farzam Farahmand Mahdi Tavakoli |
| author_facet | Seyed Mohsen Khadem Saeed Behzadipour Mehrdad Boroushaki Farzam Farahmand Mahdi Tavakoli |
| author_sort | Seyed Mohsen Khadem |
| collection | DOAJ |
| description | Purpose: Force control of robotic instruments is a difficult task due to the uncertainties causedby changes in the instrument’s geometrical and mechanical characteristics during surgery as well as the nonlinear dynamics of the instrument. A new approach based on an intelligent controller is developed to control the force interactions of a robotic surgical instrument with delicate soft tissues. This feature assists the surgeon by providing a safe grasp of soft tissues during dissection or suturing. Besides, by controlling and optimizing the magnitude of the instrument/tissue contact forces, controlled grasp will significantly reduce the surgery trauma.
Method: The controller is devised using a neuro-fuzzy regulator that receives the tracking error and its derivative as inputs, and a PD critic that evaluates the actual pinch force and produces an emotional signal. The controller tunes its parameters by means of minimizing the critic’s output signal, i.e., stress, so that the force tracking error is reduced. Numerical
simulations and experimental tests were performed to evaluate the controller.
Results: Simulation tests revealed that the controller can effectively adapt its rules when the instrument’s geometry and frictional behavior changes. The experiments revealed a settling time of 0.7 s with 3.1% overshoot. In comparison with a PID, the proposed controller reduced the mean squared error (MSE) by 94% for a target constant force, and 24% for a target
sinusoidal trajectory.
Conclusion: the proposed controller showed a superior performance in force control of tissue in safe grasp in comparison with a PID particularly for constant target forces. |
| first_indexed | 2024-04-13T11:12:04Z |
| format | Article |
| id | doaj.art-57f3a15fa80a49fd8ac6e9d537609226 |
| institution | Directory Open Access Journal |
| issn | 2345-5837 |
| language | English |
| last_indexed | 2024-04-13T11:12:04Z |
| publishDate | 2014-09-01 |
| publisher | Tehran University of Medical Sciences |
| record_format | Article |
| series | Frontiers in Biomedical Technologies |
| spelling | doaj.art-57f3a15fa80a49fd8ac6e9d5376092262022-12-22T02:49:05ZengTehran University of Medical SciencesFrontiers in Biomedical Technologies2345-58372014-09-0113Design and Implementation of an Emotional Learning Controller for Force Control of a Robotic Laparoscopic InstrumentSeyed Mohsen Khadem0Saeed Behzadipour1Mehrdad Boroushaki2Farzam Farahmand3Mahdi Tavakoli4Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran.Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran AND Institute for Advanced Medical Technologies (IAMT), Tehran University of Medical Sciences, Tehran, Iran.Department of Energy Engineering, Sharif University of Technology, Tehran, Iran.Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran AND Institute for Advanced Medical Technologies (IAMT), Tehran University of Medical Sciences, Tehran, Iran.Department of Electrical Engineering, University of Alberta, Edmonton, Canada.Purpose: Force control of robotic instruments is a difficult task due to the uncertainties causedby changes in the instrument’s geometrical and mechanical characteristics during surgery as well as the nonlinear dynamics of the instrument. A new approach based on an intelligent controller is developed to control the force interactions of a robotic surgical instrument with delicate soft tissues. This feature assists the surgeon by providing a safe grasp of soft tissues during dissection or suturing. Besides, by controlling and optimizing the magnitude of the instrument/tissue contact forces, controlled grasp will significantly reduce the surgery trauma. Method: The controller is devised using a neuro-fuzzy regulator that receives the tracking error and its derivative as inputs, and a PD critic that evaluates the actual pinch force and produces an emotional signal. The controller tunes its parameters by means of minimizing the critic’s output signal, i.e., stress, so that the force tracking error is reduced. Numerical simulations and experimental tests were performed to evaluate the controller. Results: Simulation tests revealed that the controller can effectively adapt its rules when the instrument’s geometry and frictional behavior changes. The experiments revealed a settling time of 0.7 s with 3.1% overshoot. In comparison with a PID, the proposed controller reduced the mean squared error (MSE) by 94% for a target constant force, and 24% for a target sinusoidal trajectory. Conclusion: the proposed controller showed a superior performance in force control of tissue in safe grasp in comparison with a PID particularly for constant target forces.https://fbt.tums.ac.ir/index.php/fbt/article/view/7Robotic SurgeryNeuro-Fuzzy ControllerEmotional LearningForce Control. |
| spellingShingle | Seyed Mohsen Khadem Saeed Behzadipour Mehrdad Boroushaki Farzam Farahmand Mahdi Tavakoli Design and Implementation of an Emotional Learning Controller for Force Control of a Robotic Laparoscopic Instrument Frontiers in Biomedical Technologies Robotic Surgery Neuro-Fuzzy Controller Emotional Learning Force Control. |
| title | Design and Implementation of an Emotional Learning Controller for Force Control of a Robotic Laparoscopic Instrument |
| title_full | Design and Implementation of an Emotional Learning Controller for Force Control of a Robotic Laparoscopic Instrument |
| title_fullStr | Design and Implementation of an Emotional Learning Controller for Force Control of a Robotic Laparoscopic Instrument |
| title_full_unstemmed | Design and Implementation of an Emotional Learning Controller for Force Control of a Robotic Laparoscopic Instrument |
| title_short | Design and Implementation of an Emotional Learning Controller for Force Control of a Robotic Laparoscopic Instrument |
| title_sort | design and implementation of an emotional learning controller for force control of a robotic laparoscopic instrument |
| topic | Robotic Surgery Neuro-Fuzzy Controller Emotional Learning Force Control. |
| url | https://fbt.tums.ac.ir/index.php/fbt/article/view/7 |
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