Abstract
Tele-operated surgery has a great potential to improve the access to health care and the quality of the emergency medical care. However, the stability of bilateral control cannot be guaranteed due to the communication delay between the master site and the slave site. The study aim to develop a control scheme for ensuring the stability of tele-operated surgery. We propose a hybrid control of rate control and admittance control with an "Energy Monitor" which measures the energy flow between the master and slave sites. The system switches the control modes so that the system behaves within its stable region. The contact force is also limited according to the upper bounded energy. The proposed scheme was tested through simulations in a one degree-of-freedom setup. The results showed that the proposed system successfully controlled energy and contact force in a stable manner without an unfavorable behavior.
