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Remote Haptics - With Force Feedback

The project is revolving the making of a telesurgery system with force feedback.
by

Kevin Lyn-Knudsen

on 25 January 2013

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Transcript of Remote Haptics - With Force Feedback

A Linear Model is Used, but the Motor is Assumed to be Unlinear
An Approximate Linear model can be made, by Determining an Operational Point, a Small Signal Transfer Function and a Taylor Approximation Remote Haptics - With Force Feedback Telesurgery History & Haptics Smaller Incisions
Reduced Submissions Time

Haptic is the Sense of Touch Use of Telesurgery Aalborg Sygehus uses telesurgery at their Urology Department:
Prostata Cancer
Intestine Cancer
Uterus Cancer Kasper Hemme
Mathias Mølgaard
Anders Post Jacobsen
Simon Thorsteinsson
Michael Nauheimer
Kevin Lyn-Knudsen Group 12gr504 Movements Movements on the Joystick

Movement on the Endowrist Pros & Cons Better Ergonomical Working Position
Higher Precision
Tremor Reduction

Expensive Equipment and Maintenance Collaboration The Project was Made in Collaboration With gr733
A Communication Protocol
Hardware
The System is Made so it can be Reused by Others
Result: Two Operation Modes Communication Transmission rate: 1 kHz Controller The Three Highest Prioritised Requirements
1:1 Mapping with Steady error of 1%
Maximum Overshoot of 5 %
Maximum Rise Time of 250 ms Force Feedback Deviation of Force Applied at The End-Effector vs. Joystick
Accuracy of ± 10 % Overall System System Choice FPGA Programmable Hardware
Possibility of faster control system in Hardware
Spartan3 board is able to meet the stated requirements Communication The RS232 standard was chosen
UART driver made in hardware
Soft Core Processors Could have been used Controller Cascade Controller
Proportional Controller
Lead Controller Accept Test & Results Further Developments Linearization IIR Filter IIR Filter was not thoroughly test, It was simulated Corrections Analog filter: Wrong magnitude and phase plot in appendix System Requirements Adjustable Data Rate for gr733 Black Line is Represented
in Both Operation Modes Green line represents
Voltage When gr 733
operates The Other colours is used
when gr 504 operates All Motors implemented There was only made a conceptual prototype of the system
The system have been extended to operate on 3 motors on the end-effector and the joystick (Pinch motor not mounted) Communication Force Feedback Controller Transmission rate of 1 kHz
Data rate of adjustable size, 500 Hz - 1000 Hz 1:1 Mapping with steady state error of 1 %
Maximum Overshoot of 5 %
Rise Time of 250 ms Deviation Between the Forced Applied at the End-Effector vs. joystick
Accuracy of ± 10 % To The Laboratory! Digitalt IIR Filter: Stopband requirement
200 Hz --> 500 Hz It has now been tested for attenuation, pass band, stop band and Aliasing It is now ready for implementation (a) Communication for 504
(b) Communication for 733
Two modes of communication
Dynamic communication Communication can be divided into layers
We know the OSI model
Communication from Joystick to End-Effector and back can also be put into layers Speed Controller
D_1(s) = Proportional controller
G_1(s) = Transfer function of the motor
H_1(s) = 1 Position Controller t rise: 162 ms
t settle: 5.8 s Mp: 3.5%
Steady state error < 0.5 %
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