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RTOB Paper
RTOB Paper
RTOB Paper
Engineering Letters
and implemented force/torque sensor to detect external
Abstract— The control and manipulation of a surgical force However, it is inappropriate to attach any electric or
robot is an inherently challenging task especially when magnetic sensor for measuring force on surgical robot
estimating the actual force in real-time. The end-effector of instrument because the surgical robot instrument should be
the surgical robot, where the surgical tools have been
manufactured by small size and overcome safety problem
attached, requires high-end precision. Most of the
commercial surgical robotic systems calculate the real-time caused by using electric or magnetic sensors in human
force by using traditional force sensors which body [2].
encounters hindrance like lack of expected response (advance The traditional force/torque sensors used in surgical
control), limited bandwidth and requirement of force for its robots are supposed to be positioned at different places
own operation. The paper introduces a Disturbance observer which include actuator, gripper surface, or in an
(DOB) based Reaction Torque observer (RTOB) as the sensor appropriate site and their range of force sensation will be
for the real-time force sensing in biomedical applications,
restricted to the places where they are installed. Some
with a focus on surgical robots. Besides, the force sensation
DOB would also eliminate any unwanted disturbances. In the inherited properties of these force sensors are responsible
experiment, RTOB was implemented with the real-time for causing errors in the output, e.g. the physical force
surgical robot for the bandwidth of 0-80 Hz. The sensor tends to add inertia or mass to the system, which
experimental results corroborate the importance and will not be considered by the sensor during the estimation
usefulness of RTOB for novice researchers. of reaction force. Additionally, they have narrow
bandwidth and hence the measured force is significantly
dull. Therefore, it is clear that the force sensors are not
Index Terms—About four key words or phrases in suitable with applications that demand high precisions like
alphabetical order, separated by commas, for example,
robotic surgery. In order to keep up with the current
visual-servoing, tracking, biomimetic, redundancy, degrees-
of-freedom requirements, the design of sensor systems is expected to
include innovative approaches and solutions benefiting
from recent scientific and technological developments.
I. INTRODUCTION Consequently, the advancement of sensor technology is
focused on the permanent technological progress in these
Robot-assisted surgery will continue to accept and
areas. In particular, a major upturn in these fields has been
incorporate developments in a variety of main areas in the
observed in recent years, involving a great potential for
foreseeable future .It allows physicians to perform many
entirely new sensor and sensor systems approaches.
forms of complex procedures with greater precision,
Taking into considerations the impediments imposed by
versatility and control than traditional techniques. As an
the application requirements, Murakami et al proposed a
advancement, surgical robot for minimally invasive
force control method known as reaction torque/force
surgery(MIS) has been widely researched and
observer (RTOB) [3]. The method of force control is based
developed .During MIS procedures, as the surgeon is
on disturbance observer (DOB), which is a common
separated from patient, he experience a lack of direct
method to estimate and compensate the disturbance force.
palpation ,tactile sensation , poor visibility, poor hand-eye
A RTOB/RFOB system excludes system uncertainties such
coordination, inadequate depth details, no proper force
as friction from the disturbance input to estimate the
feedback from touching the organs and movement
reaction torque/force. This reaction torque/force forms a
limitations[1]. Most of the prevalent MIS systems
basis for feedback in a force control system without the use
incorporates bilateral control systems (master and slave
of any force sensors. Considering the implementation of
robots). In the conventional bilateral control, much
robots in medical applications, which demands an
research has paid attention to develop control architectures,
appropriate force control method, the DOB-based RTOB
lends a unique attribute of being sensorless without
Manuscript received June XX, 20XX; revised July XX, 20XX. (Write
the date on which you submitted your paper for review.) This work was compromising the performance.
supported in part by the U.S. Department of Commerce under Grant First of all, as showed by [4] [5], the sensorless force
BS123456 (sponsor and financial support acknowledgment goes here).
Paper titles should be written in uppercase and lowercase letters, not all
sensing system offers a wider bandwidth as compared to
uppercase. Avoid writing long formulas with subscripts in the title; short the conventional method. On the one hand, wider
formulas that identify the elements are fine (e.g., "Nd–Fe–B"). Do not write bandwidth allows for proper response, and on the other, the
“(Invited)” in the title. Full names of authors are preferred in the author
field, but are not required. Put a space between authors’ initials. system stability is improved significantly. Secondly, the
F. A. Author is with the National Institute of Standards and Technology, RTOB system demonstrates substantial consistency with
Boulder, CO 80305 USA (corresponding author to provide phone: 303- the variations in mechanical structures [5], as it entirely
555-5555; fax: 303-555-5555; e-mail: author@ boulder.nist.gov).
S. B. Author was with Rice University, Houston, TX 77005 USA. He is excludes the mechanical constraint of a force sensor. In
now with the Department of Physics, Colorado State University, Fort addition, [5] has also highlighted some shortcomings with
Collins, CO 80523 USA (e-mail: author@lamar.colostate.edu). implementation of a force sensor such as high noise,
T. C. Author is with the Electrical Engineering Department, University
of Colorado, Boulder, CO 80309 USA, on leave from the National inaccuracy due to natural frequency and a change in system
Research Institute for Metals, Tsukuba, Japan (e-mail: author@nrim.go.jp).
structure due to the force sensor(which typically is a strain Equation (4) expressed as
gauge) being soft. Moreover, the system also comprises of (5)
an integrator for the subtraction of the steady state errors
[7]. Considering numerous such studies, it is pertinent that
the RTOB system provides robust solution in the (6)
applications which demand a meticulous motion control.
(7)
Where;
: Inertia torque and gravity effect
: External torque
: Static friction
Figure 1. DC Motor equivalent circuit diagram
: Viscous friction
By rearranging,
g dis
s g dis
(11)
Where;
Disturbance Torque g dis J n
Therefore, Tˆdis
Tdis
g dis J n
Differentiator
g dis
Tˆdis
s g dis
Figure 6. Disturbance observer with the DC motor
T̂dis
C. Reaction torque observer modeling
Figure 4. Estimated disturbance through a low pass filter
The significance of the disturbance detected in practical
Using the known values at the right-hand side, the
application is observed as disturbance compensation as
unknown value of can be determined using the known well as in the reaction torque estimation [1, 16]. Without
values at right-hand side in the above equation. Using the using a torque sensor, the disturbance observer can identify
velocity response and the torque current , the the internal disturbance of the system and also estimate the
reaction torque as shown in figure 7. It is well accounted
estimated disturbance torque is obtained. As shown in that the transmission of force sensation within bilateral
equation (14), the estimation is done through a first-order control is dictated by their action and reaction relationship.
low-pass filter, where represents the cut-off frequency In this case, by increasing the cut-off frequency, prompt
calculation and estimation of the reaction torque are
of the low-pass filter. Low-pass filter to filter the noises
commenced by the disturbance observer. The reaction
generating from the differentiation [15].
torque observer is considered as a modification of the
disturbance observer.
(14) . (15)
The equations represented in the form of a block diagram. The external torque acting on the slave manipulator
The equation (12) and (13) demonstrated as a block considered as the Reaction torque and it calculated as:
diagram as shown in Figure 5. This structure comprises of
a differentiator, which will escalate the noise. Considering (16)
that, the same diagram restructured as follows. The
Since at the moment of contact, bandwidth of 0-80 Hz, which is sufficient for responding to
the control commands of surgeons.
(17)
Where: Frequency Response curve of the system
Reaction Torque
(18)
Tdis
I aref 1 1
Kt
Js s
Tˆreact
Figure:
IV. CONCLUSION
A conclusion section is not compulsory. Although a
Figure: conclusion may review the main points of the paper, do not
replicate the abstract as the conclusion. A conclusion might
elaborate on the importance of the work or suggest
applications and extensions.
ACKNOWLEDGMENT
REFERENCES
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Suthakorn,"Observe based dynamic control model or
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[2]. Sung Min Yoon; Won Jae Kim; Min Cheol Lee; Woo
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Surgery Robot", IEEE ISR, 2013
[3] T. Murakami, F. Yu and K. Ohnishi, "Torque
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