Advanced Creative Robotics II - Surgical Robot - 151109

Introduction of Laparoscopic Surgical Robot and
Reaction Force Estimation based Bilateral Control
(ME , Pusan National University)
Min Cheol Lee

mclee@pusan.ac.kr
2015. 11. 09
Measurement & Control Lab

Contents
Introduction of Surgical Robot

Motivation and Purpose of Research
SPO based Reaction Force Estimation
Estimated Reaction Force Based Bilateral
Control
Conclusion
Measurement & Control Lab 1 /79

Surgical Robot
Laparoscope CAD/CAM Surgical
Holder Arthrobot Robot
AESOP RoboDoc daVinci
Artificial Hip Joint Laparoscopic

Laparoscopic Surgical
Replacement
Camera Aided Robot Surgical Robot Surgical Robot

Evolution of Surgery
19c 1980s 2000s
Items Open Surgery Laparoscopic Robotic Surgery Superiority
Surgery
Effectiveness for Patients
Risk of Infection High Low Very Low Robotic Surgery
Hemorrhage() Much Little Very Little Robotic Surgery
Recovery Time Long Short Short Robotic, Laparoscopic
Scar() Big Small Small Robotic, Laparoscopic
Complication High Low Low Robotic
Conclusion Not Good Good Very Good Robotic Surgery

Effectiveness for Surgeons
Operation Time Medium Long Medium Robotic, Open
View Scope Good Bad Good Robotic, Open
Training Time Short Long Medium Open Surgery

Operating Posture Bad Very Bad Good Robotic Surgery
Conclusion Medium Not Good Good Robotic Surgery

Comparison of Surgery
Open Laparoscopic Robotic

Effectiveness Medium Good Very Good
Surgical
Environment Medium Bad Very Good
Operation Cost
Low High Higher
Robotic Surgery is superior to other

conventional surgical techniques

Overview of Robotic Surgery
Laparoscopic surgical robot : Laparoscopic surgical robot + Laparoscopic

Instrument + Haptic based technology
Laparoscope robot surgical operation achieves almost equal process with existing
laparoscope surgical operation.
Make 5~12mm size holes at operating region and insert instruments & laparoscope.
Surgeon sit in the controlling box comfortably and execute the surgical operation with
endoscope view
Slave part operating as Master parts given order by surgeon
Assistants need to changed the suitable instruments
Able to reduce physical fatigue from

comfortable surgery posture. Therefore,
possible to achieve accuracy of surgery.
Able to maximize surgery effect with
improved 3D laparoscope & D.O.F.

Tele Robot Surgery System
Zeus System da Vinchi System

2 D Image Stereo Image
5 DOF 7 DOF
Fulcrum (+) Fulcrum (-)

Zeus Robot System

Da Vinci system

3D image via Dual Lens 3-Chip Camera

Da Vinci system

Trans-gastric appendectomy

Operating Problem of Instrument of Surgical Robot
No electric and
Magnetic sensors
Limited reuse
Under 10mm
Only visual feedback No tactile feedback

information
No force feedback when cutting thread,

breaking needle, and harming organs
Instrument and tip for Davinci Surgical Robot
Measurement & Control Lab 12/82

Motivation and Purpose of this research
Motivation
1) Surgeons need the force feedback to feel a
reaction force of the tip of the instrument of a
surgical robot.
2) It is difficult to sense a reaction force of the
instrument tip because of difficulty of attaching a
sensor on the tip.
Purpose
Sensorless feedback control approach of
instrument observing perturbation using SMCSPO
in gripping

Dynamics of a Robot Manipulator
n n n
Ti Dij q j I i ( act ) qi H ijk q j qk Gi
j 1 j 1 k 1
n
Dij Trace(U
p max( i , j )
pj J pU Tpi )
n
H ijk
p max( i , j , k )
Trace(U pjk J pU Tpi )
n
Gi m p g TU pi rp
p i

Backgrounds
Global Research of a class of uncertain nonlinear

system
Adaptive PD Control : Slow motion with small payload
Sliding Mode Control : Inherent chattering problem
Fuzzy Sliding Mode Control
The effective method using expert knowledge without the

parameters and structure of the system.
- It is difficult to design and analyze the adequate fuzzy

rules.

SMCSPO
Why SMCSPO(Sliding Mode Control with Sliding

Perturbation Observer) ?
Robust against nonlinear system
Reducing the chattering problems of

conventional SMC
Estimating the perturbation of nonlinear and

parameter uncertainty terms without other
sensor.
[References]
1. J.J. E. Slotine, J.K. Hedrick, and E.A. Misawa, On Siding Observers for Nonlinear
Systems, ASME Journal of Dynamic Systems, Measurement and Control, Vol. 109, pp.
245-252, 1987.
2. J.T. Moura, H. Elmali, and N. Olgac, Sliding Mode Control With Sliding
Perturbation Observer, Journal of Dynamic Systems, Measurement, and Control,
Vol.119, pp657-665, 1997
3. K. S. You, and M.C. Lee, Sliding Mode Controller with Sliding Perturbation
Observer Based on Gain Optimization Using Genetic Algorithm, KSME
International Journal, Vol.18, No.4, pp. 630-639, 2004
4. Min Cheol Lee, Chi Yen Kim, Bin Yao, William J. Peine, and Young Eun Song,
Reaction Force Estimation of Surgical Robot Instrument Using Perturbation
Observer with SMCSPO Algorithm, 2010 IEEE/ASME International Conference on
Advanced Intelligent Mechatronics, July, 2010.
5. Nahian Rahman and Min Cheol Lee, Actual Reaction Force Separation Method of
Surgical Tool by Fuzzy Logic Based SMCSPO, Vol.13, No.2, pp.379-389, April 2015
6. Sung Min Yoon, Won Jae Kim, and Min Cheol Lee, Design of Bilateral Control for
Force Feedback in Surgical Robot, IJCAS Vol. 13, No. 4 pp. 916-925, August, 2015

Sliding Mode Control with Sliding Perturbation
Observer (SMCSPO)
1. Review of Nonlinear Observer and Sliding

Mode Control
2. A Robust Observer and Filter Design
3. A Robust Control Design with Partial State
Feedback
4. Simulations and Experiments of Motion
Platform System
Measurement & Control Lab 18/82

Review of Nonlinear Observer
and Sliding Mode Control
1. Definition of Perturbation
2. Sliding State Observer
3. Conventional Sliding Mode Control
4. Perturbation Observer

Definition of Perturbation (I)
The governing equation of a class of nonlinear system
x( n) f (X1 , , Xm ) f (X1 , , Xm ) B(X1 , , Xm ) B(X1 , , Xm ) u d(t )

x [ x1 , x2 , , xm ]T m
: Global state
vector
Xi [ xi , xi , , xi( ni 1) ]T ni
: ith state sub-vector
f [ f1 , f m ]T m
: Elements of system
matrix
mm
B [bij ] : Elements of control gain
matrix
mm
B [bij ] f [f1 , f m ]T m
: Uncertainties of system and
control gain matrix
d [d1 , dm ]T m
: Disturbances vector
u [u1 , um ]T m
: Control inputs
xi( ni ) xi( k ) d k ( xi ) / dt k , xi d ( xi ) / dt

Definition of Perturbation (II)
Definition of Perturbation
(X1 , , Xm , t ) f (X1 , , Xm ) B(X1, , Xm )u d(t )
The control task is to derive the state sub-vector toward a desired

state
Xid [ xid , xid , , xid( ni 1) ]T
vector despite these perturbations.
(x, t ) F (x) ji ( x)u D(t ) (t )
where , F f , B ,D d , represent
the expected upperbounds of the uncertainties,

respectively.

Conventional SMC Philosophy
Sliding Function
cj : Slope of sliding surface, constant
s j ej c jej e j x j xdj : Position error
Lyapunov function candidate (Attractive Condition)

1 2 x( n ) f Bu
V (s j ) s j 0 V (s j ) s j s j 0
2
s j e j c j e j f j Bu j xdj j s j K j sgn(s j ) xdj( n ) - f j - Bu j j
j
(c j e j = j ) ( =f + d + Bu) = j
K j (f d Bu) j , worst case
s 0 s K sgn(s) x(n)
d - f - Bu +
m
Complete control input : Developed form Fj D j B jk u k

k 1

u eq B 1 s K sgn(s) f x(dn ) [1 , 2 , , m ]T j c j e j

Problem on conventional SMC
Some important handicaps of conventional SMC are :

1) A priori knowledge of the upperbounds of the perturbations
2) An inherent chattering problem due to high feedback gains
To reduce these problems of conventional SMC :

1) Replace switching function with saturation function
s j / | s j | if | s j | sj
sat ( s j )
s j / sj if | s j | sj
2) Switching gain optimization by various learning method
Fuzzy theory, Artificial neural network, Genetic algorithm
3) Design of perturbation compensator
SMC with Fuzzy Adaptive Perturbation Compensator

Perturbation Observer Philosophy
Control input including the estimated perturbation

uB 1
s Ksgn(s) f x (n)
d (t )estimated x( n ) f Bu
(t )estimated xcalculated
(n)
f Bu(t ) f +Bu +d
s s K sgn(s) xd( n ) - f - Bu j - (t)estimated
s K sgn(s) (t)actual - (t)estimated
K [ K1 , , Km ]T (t )estimated (t )actual (t )estimated
The major advantage of the sliding mode control with
perturbation observer : The switching gain K is rather
small.
Problem in practice
1) Full State Feedback : Additional Sensor
2) Chattering problem : Influence of Sensor noise
A Sliding Perturbation Observer
and Filter Design
1. Robust Sliding Perturbation Observer Design

Sliding Observer (I)
The state space representation of general second order

dynamics with m-DOF
x1 x 2
x 2 f ( X1 , , Xm ) f ( X1 , , Xm ) B( X1 , , Xm ) B( X1 , , X m ) u d (t )
y = x1
Where, Xi [ xi , xi ]T
2i
y [ y1 , y2 , ym ]T m
xi xi xi
Proposed Sliding Observer
x 1 x 2 k1sat (x1 ) 1x1

x 2 f ( X , ,X ) B( X , )u k sat (x ) x
,X
1 m 1 m 2 1 2 1

Sliding Observer (I)
The resulting estimation error dynamics
x1 x 2 k1sat (x1 ) 1x1

x 2 k 2sat (x1 ) 2 x1 (, =f + d + Bu , f = f - f f )
k1 diag (k1 j ) k 2 diag (k2 j ) 1 diag (1 j ) 2 diag ( 2 j )

: Positive observer gain matrix k1 j , k2 j , 1 j , 2 j 0
x [ x1 , x2 , , xm ]T m
xi xi xi : Estimation error vector
sat(x) [sat ( x1 ), , sat ( xm )]T x1 j / x1 j , if

x1 j oj
: Saturation function sat ( x1j )

x1 j / oj , if x1 j oj
to eliminate the control chatter

Sliding Observer (II)
The condition for the existence of sliding mode on the line x1 0

x1x1 0
x 2 1 x1 k1 (if x1 0 x1 0)
x1 x 2 k1sat (x1 ) 1x1
x 2 1 x1 k1 (if x1 0 x1 0)
From the sliding condition, the state
estimation error is bounded by x2 k1. 1 x1 k1
Error dynamics of proposed SO

x1 0 x1 0 x 2 k1sat (x1 ) 1x1 ( 0)
sat(x1 ) k11x2 1 x1 k1
in eq. x 2 k 2sat (x1 ) 2 x1
x 2 k 2k11x 2 k 2k11 : Cut-off Frequency
k 2 (x , t ) : Stability of proposed SO

Control Variable Transform
Definition of a new control variable
f (x ) B(x )u 3u ------------ (A)
3 diag (3 j ) : arbitrary positive number
u [u1 , u2 , , um ]T m
: new control variable
u B 1Col[ 3u f (x )]
Transformation of Eq. (A) allows us to simplify the system
dynamics.
The proposed SO scheme is rewritten by x1 x 2
x 2 3u
x 1 x 2 k 1sat (x1 ) 1x1 y x1
x 2 3u k 2sat (x1 ) 2 x1 x 2 f (x ) B(x )u k 2sat (x1 ) 2 2

Perturbation Observer with Partial State Feedback
Let components of x 3 be a new state variable defined as
SOPO x3 3x2 31 x3 3x2 31
It is assumed that it is possible to select the elements of 3 high

enough so that each element of 31 can be neglected relative to this
of 3x2 .
Assumption : a) The time derivatives of exist and are bounded,

b) The spectrums of lie within a known finite frequency range.
This new state can be achieved by writing the observer as

x 3, FSF 32 x 3, FSF 3 x 2 u 32 x2 3x3
x 2 f + Bu + 3u
x
3 3, Full State Feedback 3 x 2
x x ( u ) ( x x u )
3 3 2 3 3 3 3 3
2
3 2 3

Integration of SO and PO
New structure with partial state feedback : RSPO

State representation of
x 1 x 2 k1sat (x1 ) 1x1
the simplified dynamics

x 2 3u k 2sat (x1 ) 2 x1 x1 x 2
x 3 32 x 3 3 x 2 u x 2 3u
x x
y x1
3 3 3 2
x3 3x 2 31 = 3 3u + - -13
x1 x 2 k1sat (x1 ) 1x1
= 3 3u + 23 x 2 - 3 x 3 - -13
x 2 k 2sat (x1 ) 2 x1 = -x 3 3 x 2 u - -13
Estimation error dynamics
2
3
x3 32 x3 3 x 2 31
x 2 k 2k11x 2 : Low pass filter typex:2 ( p) / ( p)
k 2k11 : Cut-off Frequency
k 2 (x , t ) : Stability of proposed SPO

.
The transfer function between j and j
x3 j 32j x3 j 3 j x2 j j / 3 j (A.1) x 2 k 2sat (x1 ) 2 x1

x3 32 x3 3 x 2 31
x2 j k2 j / k1 j x2 j j (A.2) x1 j 0
Using 32 x 2 3 x3 x2 j 0
x
3
3, FSF 3 x 2
x3 3 x 2 31

x 3, FSF 3 x 2 31
x3 j j / 3 j (A.3)
33 j x2 j x3 j 32j x3 j j / 3 j (A.4) x3 j 32j x3 j 3 j x2 j j / 3 j
Substitutingx2 j in (A.4) for (A.2)

x2 j 33j ( x3 j 32 j x3 j j / 3 j )

x3 j 32 j x3 j j / 3 j k2 j / k1 j x3 j 32 j x3 j j / 3 j 33 j j (A.5)
Using (A.3), (A.5) is as follows:

.

j k2 j / k1 j 32 j j 32 j k2 j / k1 j 32 j j
j k2 j / k1 j j (A. 6)
Transfer function j ( p) is derived as

j ( p)
j ( p)

p p k2 j / k1 j
(A.7)
j ( p) 2

p k2 j / k1 j 2
3j p 2
3j k
2j / k1 j 2
3j
(A.7) is high pass filter
The relation between j and x2 j : transfer function from (A.2) is
derived as
x2 j ( p) 1

SO j ( p) p k2 j / k1 j 2 j 2 j
x2 j ( p ) p
(A.8)
j ( p)
p k2 j / k1 j
2 2
3j
p 32 j k2 j / k1 j 32 j

At t=0 , x1 j 0, x2 j 0 . This means that observer starts on the sliding surface
and always remains in the boundary layer. The attractive 1 j , 2parameters
j
( 1 x1 j 0 )
are selected to be zero. Where sat(x1 j ) x1 j / oj ,
From x1 x 2 k1sat (x1 ) 1x1 , x 2 k 2sat (x1 ) 2 x1
x2 j k2 j / oj x1 j j (A.9)

x1 j x2 j j / k2 j / oj (A.10)
The derivative of time in (A.9) is obtained by
x2 j k2 j / oj x1 j j (A.11)
if x1 j 0 , using the relation x1 j x2 j k1 j / oj x1 j , (A.11) is rewritten as

x2 j k2 j / oj x2 j k1 j / oj x1 j x2 j k2 j / oj x2 j k1 j / k2 j x2 j j j
(A.12)
if x3 j 0 33j x2 j x3 j 32j x3 j j / 3 j , (A.4) is as

33 j x2 j x3 j j / 3 j (A.13) => Using (A.13), (A.12) is derived as

x3 j j / 3 j k2 j / oj x3 j j / 3 j k1 j / oj x3 j j / 3 j 33 j k1 j / oj j 33 j j (A.14)

Using (A.3) x3 j j / 3 j, (A.14) is rewritten as
j j k2 j / oj j k2 j / oj j k1 j / oj j k1 j / oj j 34j k1 j / oj j 34j j
(A.15)

p p 2 (k1 j / oj ) p (k2 j / oj )
j ( p) ( p) (A.16)

p3 (k1 j / oj ) p 2 (k2 j / oj ) 34j p 34j k1 j / oj
j
Using (A.12),
x2 j k2 j / oj x2 j k1 j / k2 j x2 j j j
, and (A.16)
p k1 j / oj
j ( p) x2 j ( p)
p 2
(k1 j / oj ) p (k2 j / oj )
x2 j ( p ) j ( p ) x2 j ( p )
RSPO(Robust SPO)
j ( p )

j ( p ) j ( p )
p( p k1 j / oj )
x2 j ( p) ( p)

p3 (k1 j / oj ) p 2 (k2 j / oj ) 34j p 34j k1 j / oj
j (A.17)

Filter Design for RSPO
Frequency domain relation between x 2and
RSPO(Robust SPO)
p( p k1 j / oj )
x2 j ( p) 3
p (k1 j / oj ) p 2 (k2 j / oj ) 32j k2 j / oj
j ( p)
SO
p k1 j / oj
x2 j ( p)
p (k1 j / oj ) p k2 j / oj
2 ( p)
j
The RSPO clearly

eliminates higher attenuation up
to
/ k1k 21 2 2 0.4
approximately .

Sliding Mode Control
with Sliding Perturbation Observer
1. SMC with the proposed SPO

2. Robust Control with Partial State Feedback
3. Filter Design

Schematic Diagram for Robust Control Scheme
( X1 , , X m , t ) f ( X1 , , X m ) B( X1 , , X m )u d ( t )
p ( p 2 (5d 2 K rj ) p (14d2 8 K rj d2 K rj2 )

( p d ) 4
System
x e, e
x, x -

+
xd , xd , xd s
Sliding State Observer
x , x
-
+
p ( p 3d ) x, x e, e
( p d )3 New Robust Control
Strategy

Perturbation Observer
p p 2 3d p 3d2
( p d )3

A New Robust Controller Design (I)
Estimated Sliding Function
s e c1e
s [s1 , s2 , , sm ]T m
: Estimated sliding function
e [e1 , e2 , , em ]T m
, e j x1 j x1dj : Estimated velocity tracking error
e [e1 , e2 , , em ]T m
, e j x1 j x1dj : Estimated position tracking error
c1 diag (c1 j ), c1 j 0 : Slope of estimated sliding function

A New Robust Controller Design (I)
Actual Sliding Function
s e c1e
s [s1 , s2 , , sm ]T m : Estimated sliding function
e [e1 , e2 , , em ]T m
, e j x1 j x1dj : Estimated velocity tracking error
e [e1 , e2 , , em ]T m
, e j x1 j x1dj : Estimated position tracking error
c1 diag (c1 j ), c1 j 0 : Slope of estimated sliding function
s s s x1 c1x1

The conventional SMC Design
To satisfy the attractive condition sT s 0

A desired dynamics s
s K sat (s)
K diag ( K j ), K j 0 : Control gain matrix
sat(s) [sat (s1 ), , sat (sm )]T m
s j / s j , if s j sj

sat ( s j )
s j / sj , if s j sj

x1 j / x1 j , if x1 j oj

cf : sat ( x1 j )
x1 j / oj , if
x1 j oj

The estimated sliding function
s j e j c1 j e j x1 j x1dj c1 j x1 j x1dj (B.2)
Using RSPO structurex1 x2 k1sat ( x1 ) 1 x1
s j x2 j k1 j sat ( x1 j ) 1 j x1 j x1dj c1 j x1 j x1dj (B.3)
If the sliding mode of the proposed RSPO takes place at0

x1 j
sat ( x1 j ) x1 j / oj , 1 j x1 j 0 (B.4)
s j x2 j k1 j / oj x1 j x1dj c1 j x1 j x1dj (B.5)

, x x k sat ( x ) x
Using Eqs. x2 3u k2 sat ( x1 ) 2 x1 1 2 1 1 1 1
k / x k sat ( x ) x
s j 3 j u j k2 j sat ( x1 j ) 2 j x1 j j 1j oj 2j 1j 1j 1j 1j
c1 j ( x2 j k1 j sat ( x1 j ) 1 j x1 j x1dj ) x1dj (B.6)

A Robust Controller with RSPO(RSMCRSPO)
k / x k sat ( x ) x
s j 3 j u j k2 j sat ( x1 j ) 2 j x1 j j 1j oj 2j 1j 1j 1j 1j
c1 j ( x2 j k1 j sat ( x1 j ) 1 j x1 j x1dj ) x1dj (B.6)

If sat ( x1 j ) x1 j / oj , 1 j x1 j 0, 2 j x2 j 0
s j 3 j u j [k2 j / oj c1 j (k1 j / oj ) (k1 j / oj ) 2 ] x1 j

(k1 j / oj ) x2 j x1dj c1 j ( x2 j x1dj ) (C.2)
j
From s j K j sat ( s j ) 0
1
u j { K j sat ( s j ) [k2 j / oj c1 j (k1 j / oj )
3 j
}
(k1 j / oj ) 2 ] x1 j x1dj c j1 ( x2 j x1dj ) j

A Sliding Mode control with RSPO(Robust SPO)
Each element of s : Using the proposed RSPO
s j ( 3 j u j [k2 j / oj c1 j (k1 j / oj ) 1 j ( 2 j 1 j ) (k1 j / oj ) 2 ]x1 j

K sat ( s )
(k1 j / oj 2 j 2 j ) x2 j x1dj c1 j ( x2 j x1dj ) j j j
(B.7)
Control law in s j 0, if x2 j 0
1
uj { K j sat ( s j ) [k2 j / oj c1 j (k1 j / oj ) 1 j ( 2 j 1 j )
3 j
}
(k1 j / oj ) 2 ] x1 j x1dj c j1 ( x2 j x1dj ) (B.8)
j
j 0 : Compensation gain of estimated perturbation
sat(s) [sat (s1 ), , sat (sm )]T m

s j / s j , if s j sj

sat ( s j )
s j / sj , if s j sj
: Anti-chattering properties

A Sliding Mode control with RSPO(SMCRSPO)
. The resulting control law of SMCRSPO including the effects

of x2 j
1
uj { K j sat ( s j ) [k2 j / oj c1 j (k1 j / oj ) (k1 j / oj ) 2 ] x1 j
3 j
}
x1dj c j1 ( x2 j x1dj ) j (B.9)
The resulting s j dynamics including the effects of x2 j becomes
s j K j sat ( s j ) (k1 j / oj ) x2 j
s j s j s j ( K j / sj )( s j s j ) (k1 j / oj ) x2 j s j
( K j / sj )( s j s j ) {x1 j c1 j x1 j } s x1 c1x1
(B.10)

A Robust Controller with RSPO(RSMCRSPO)
To reduce the influence of estimation error and large perturbation,

K S s is added in the s dynamics. Also, in order to have a small robust
gain in spite of large perturbations, K R is proposed. Therefore, a
desired sdynamics including the effects of x2 is designed as
s K sat(s) x2 K S s K R
diag ( j ), j 0, j (k1 j / oj 2 j 2 j ) : Compensation gain matrix of
velocity estimation error
K S diag ( Ksj ), Ksj 0
: Recursive filter gain
K R diag ( Krj ), Krj 0 matrix
: Robust control gain
n j 1 matrix
j j ,k 1e(jk ) , j ,k 1 , j ,n j 1 : Robust hyper-planes
k 1

A Robust Controller with RSPO(RCRSPO)
Using s K sat(s) x2 K S s K R and (C.2)
s j 3 j u j [k2 j / oj c j1 (k1 j / oj ) (k1 j / oj ) 2 ]x1 j

x1dj c j1 ( x2 j x1dj ) j
K j sat ( s j ) j x2 j K Sj s K Rj j
Control law in s j 0, if x2 j 0
1
uj { K j sat ( s j ) K sj s j K rj j j x2 j [k 2 j / oj c1 j (k1 j / oj )
3 j
}
(k1 j / oj ) 2 ] x1 j x1dj c j1 ( x2 j x1dj ) (C.3)
j

A Robust Controller with RSPO(RCRSPO)
)
The resulting control law of RCRSPO including the

compensation gain of perturbation
1
uj { K j sat ( s j ) K sj s j K rj j j x2 j [k2 j / oj c1 j (k1 j / oj )
3 j
}
1 j ( 2 j 1 j ) (k1 j / oj ) 2 ] x1 j x1dj c j1 ( x2 j x1dj ) j (C.4)
j
Using ,
u B1[3u f (X )] and (C.4)
,X
1 m
u B1 K sat(s) x2 K S s K R f
where, [1 , 2 , , m ]T m
j [k2 j / oj c1 j (k1 j / oj ) 1 j (2 j 1 j ) (k1 j / oj )2 ] x1 j x1dj c j1 ( x2 j x1dj ) j j

Design Procedure (I)
Once x1 j oj , x1 j 0 and s j sj , s j 0 are reached as follows :
x1 j k1 j / oj 1 0 0 x1 j 0
x
x2 j k2 j / oj 32 j 3 j 0 2 j 0 j
x3 j 0 32 j 3 j 0 x3 j 1 3 j

s j k2 j / oj (c1 j k1 j / oj ) (2c1 j 32 j ) 3 j K rj c1 j s j 0
2
Characteristic equation of A I
[ ( Krj c1 j )][ 3 (k1 j / oj ) 2 (k2 j / oj ) 32j (k2 j / oj )] 0
Let P(d ) ( d )4 be the desired characteristic polynomial
Finally,
k1 j k2 j d Kj
3d , d , 3 j , c1 j d K rj
oj k1 j 3 sj
How select? - Guidelines for selecting gains

Design Procedure (II)
Gain Optimization : Genetic algorithm
Error function Input

Trajectory Data
Genetic Algorithm
tf n Crossover
Se ( si (t ) )
110010 1010
Chromosomes 101110 1110
1100101010
encoding
t 0
110010 1110
1 Set
initial generation
1011101110
101110 1010
0011011001
1100110001
Mutation
Fitness Function 00110 1 1001
new
population 00110 0 1001
Selection
W
fGA Evaluation
1 Se
offspring
roulette wheel 110010 1110 Decoding Stewart
101110 1010
00110 01001
Platform
Fitness
Computation System
Generation number : 500
Select a individual of
d
maximum fitness as a solution
Finally, can be chosen

Design Procedure (III)
Filter Design in frequency domain

s j ( p) / j ( p) for SMC
Kj 1
sj s j j s j ( p) j ( p)
sj p d
s j ( p) / j ( p) for SMCRSPO
p( p 2 5d p 10d2 )
s j ( p)
( p d ) 4 j ( p)
s j ( p) / j ( p) for RCPSF
Kj k2 j k1 j K j k1 j Kj
x1 j 0 : s j K rj
j
s c1 j

1 j 1 j
x c x2 j j j
sj
oj oj
sj oj
sj
p( p 2 (5d 2 K rj ) p (14d2 8K rj d2 K rj2 )

s j ( p)
( p d ) 4 ( p)
j

Design Procedure (IV)
Evaluation in frequency domain : RCPSF s j ( p ) / j ( p)

p( p 2 (5d 2 K rj ) p (14d2 8K rj d2 K rj2 )
s j ( p)
( p d ) 4 ( p)
j
/ d

Design Procedure (V)
Evaluation in frequency domain : s j ( p) / j ( p)
/ d

Schematic Diagram for Robust Control Scheme
( X1 , , X m , t ) f ( X1 , , X m ) B( X1 , , X m )u d ( t )
p ( p 2 (5d 2 K rj ) p (14d2 8 K rj d2 K rj2 )

( p d ) 4
System
x e, e
x, x -

+
xd , xd , xd s
Sliding State Observer
x , x
-
+
p ( p 3d ) x, x e, e
( p d )3 New Robust Control
Strategy

Perturbation Observer
p p 2 3d p 3d2
SMC
( p d )3
u
SPO
Application of Cable-Pulley Driven Instrument
TABLE I Specification of Experimental Test System
Part specification
Intuitive EndoWrist Instrument
Instrument
( Maryland Bipolar Forceps)
4 pcs of Maxon DC Motor
Motor
(26mm, 18W graphite brushes)
4pcs of Maxon Encoder
Encoder
(3 Channel Optical Encoder)
Maxon motor Control
Motor drive
(Servo amplifier)
Controller DSP(TMS320F28335)
Sample time 0.5 ms
Cable-Pulley Driven Instrument

Experimental System
Gripper
Load Cell
Fig. 5. Experimental system to measure reaction force by using load cell

Sensorless force feedback control approach (I)
Experiment for estimating perturbation

Sensorless force feedback control approach (II)

Sensorless haptice system approach
1 Sec 2 Sec
3 Sec 4 Sec

1
0.5
1 2 3 4 5 T
5 Sec ( Kgf ) T ( Sec)


Conclusion
1. The estimated value by SPO could be related

with the reaction force of the instrument which
is difficult to directly measure without a sensor
on the instrument tip.
2. The estimated perturbation value could be used
as force feedback signal for haptic system.
3. The generalized evaluation of haptic function
was insufficient because of implementation on
only one finger grip, but the possibility was
ascertained.

Bilateral Teleoperation System
Human Operator Teleoperator Environment
Vm Vs
+ -
Fh Fe
- +
[Model of a bilateral teleoperation system]

Bilateral Control Structure

Bilateral Control Design
Master controller
Dynamic equation of the mater Master Slave
J m xm Bm xm um h
J m : inertia of master
Bm : damping coefficient
Target impedance model um : master control input
h : estimated operating force
J d xm Bd xm Kd xm h k f e
J d , Bd , K d : inertia, damping and stiffness
of the target impedance model
k f : scale factor
e : force transferred to the master by the slave environment
Master control input
J J J
um Bm m Bd xm m 1h m (k f e K d xm )
Jd Jd Jd

Bilateral Control Design
Master controller
Dynamic equation of the mater`
J s xs Bs xs us e
Applying sliding mode control

xs x2 3u k2 sat x1 2 x1

s e ce
s ( xs xm ) c( xs xm ) s Ksat (s)
s / s , if s c
sat (s)

s xs J d1 (h k f e Bd xm Kd xm ) c( xs xm ) s / c , if s c
Slave control input

us Ksat (s) k2 / o c(k2 / o ) (k2 / o )2 xm J d1 (h k f e Bd xm K d xm )

c( x x ) B / J x
s m s s s s

Bilateral Control Experiment
Surgical Instrument(Slave) and Gripper(Master)
Part Specification
Intuitive Inc, EndoWrist Instrument

Instrument
(Prograps Forceps)
Maxon DC motor+Encoder
Motor
(26mm, 18W graphite brushes)
Motor drive Maxon servo drive
Control board MMC-half Board

1 DOF Gripper Experiment
slave
master

1 DOF Gripper Experiment Result
Experiment of free motion Experiment of contacting obstacle

Cable-Conduit Structure Based Surgical Robot
Master

Cable-Conduit Structure based Experiment(scale factor =1)
Experiment of free motion Experiment of contacting obstacle

Master - Slave Error

Cable-Conduit Structure based Experiment(scale factor =2)

Relation between reaction and operating torque

according to scale factor
Scale factor = 1 Scale factor = 2

Conclusion
1. Humans operating force and a reaction force

from the slave environment were estimated well
by using the SPO based force estimation method.
2. Impedance control was used for master control
and SMC was applied for the robust control of the
slave.
3. The experiment results confirmed that the
proposed bilateral controller showed adequate
position tracking and force tracking performance

Remote Tele-surgery
Operation Lindberg ROUTINE telesurgery from

First remote and trans-Atlantic Hamilton to North Bay
Telesurgery procedure 300 mile distant
Prof. Jacques Marescaux, MD Dr. Mehran Anvari, MD

IRCAD, Strasbourg FRANCE McMaster Univ, Toronto CANADA
Peroral Transgastric Endoscopic Surgery
Need for development of modified accessories and endoscopes
Courtesy of N Reddy, Hyperbad India 20005

Early Luminal Malignancies - Robotic EMR
Endoluminal Robotics

Suture Devices
Eagle Claw Apollo Project

Olympus, Tokyo

Useful Websites
www.websurg.com
http://depts.washington.edu/biointel/
http://cambridgeendo.com/products.html
http://www.aetf-endosurg.com/

Tele Surgery using Surgical Robot
www.websurg.com

Advanced Creative Robotics II - Surgical Robot - 151109

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Introduction of Laparoscopic Surgical Robot and

Reaction Force Estimation based Bilateral Control

(ME , Pusan National University)

Min Cheol Lee

Measurement & Control Lab

Introduction of Surgical Robot

Measurement & Control Lab 1 /79

AESOP RoboDoc daVinci

Artificial Hip Joint Laparoscopic

Measurement & Control Lab

Conclusion Not Good Good Very Good Robotic Surgery

View Scope Good Bad Good Robotic, Open

Training Time Short Long Medium Open Surgery

Conclusion Medium Not Good Good Robotic Surgery

Measurement & Control Lab 3 /79

Open Laparoscopic Robotic

Robotic Surgery is superior to other

Measurement & Control Lab 4 /79

Laparoscopic surgical robot : Laparoscopic surgical robot + Laparoscopic

Able to reduce physical fatigue from

Measurement & Control Lab 5 /79

Zeus System da Vinchi System

Measurement & Control Lab 6 /79

Measurement & Control Lab 7 /79

Measurement & Control Lab 8 /79

Measurement & Control Lab

Measurement & Control Lab 10 /79

Measurement & Control Lab 11 /79

Only visual feedback No tactile feedback

No force feedback when cutting thread,

Instrument and tip for Davinci Surgical Robot

Measurement & Control Lab 12/82

Measurement & Control Lab 13 /79

Measurement & Control Lab 14 /79

Global Research of a class of uncertain nonlinear

Adaptive PD Control : Slow motion with small payload

Sliding Mode Control : Inherent chattering problem

Fuzzy Sliding Mode Control

The effective method using expert knowledge without the

- It is difficult to design and analyze the adequate fuzzy

Measurement & Control Lab 15 /79

Why SMCSPO(Sliding Mode Control with Sliding

Robust against nonlinear system

Reducing the chattering problems of

Estimating the perturbation of nonlinear and

Measurement & Control Lab

1. Review of Nonlinear Observer and Sliding

Measurement & Control Lab 18/82

Measurement & Control Lab 19 /79

The governing equation of a class of nonlinear system

x( n) f (X1 , , Xm ) f (X1 , , Xm ) B(X1 , , Xm ) B(X1 , , Xm ) u d(t )

Measurement & Control Lab 20 /79

(X1 , , Xm , t ) f (X1 , , Xm ) B(X1, , Xm )u d(t )

The control task is to derive the state sub-vector toward a desired

(x, t ) F (x) ji ( x)u D(t ) (t )

the expected upperbounds of the uncertainties,

Measurement & Control Lab 21 /79

Lyapunov function candidate (Attractive Condition)

Complete control input : Developed form Fj D j B jk u k

Measurement & Control Lab 22 /79

Some important handicaps of conventional SMC are :

2) An inherent chattering problem due to high feedback gains

To reduce these problems of conventional SMC :