Teleoperation systems in the medical usage, allows a surgeon to perform a remote distance operation with or without magnification. A basic teleoperation system provides control to a remote robotic device through a master controller. The applications of such system are extended and include space robotics, surgical robotics and service in nuclear power plants and other hazardous environments. In the medical usage, a typical teleoperation system consists of visual feedback to the user from the remote environment and a control interface that enable surgeons applying force to the master robot to make the slave robot performing series of commands inside the patient’ body. Consequently, it is important to reflect the contact forces of slave robot in interaction with patients to the surgeon’ hand. It can be proved that, in order to achieve this purpose the scheme of control should be designed for guaranteeing endoscope stability and transparency that deals with a delicate and sensitive environment such as soft and hard tissues in an endoscopic sinus surgery.
The Group of medical Robotics at Amirkabir Robotic Institute is working on telerobots in some parts:
- Designing control to guarantee whole system stability, interaction with unknown and non passive environment.
- Designing control to guarantee the system stability with unknown parameter of master and slave robots.