In this paper we propose a novel trilateral dual-master-single-slave teleoperation control architecture that can be used for the training of novice surgeons in surgical procedures. Starting from the concept of energy tank, we propose a flexible and stable trilateral interconnection over a delayed communication channel between the masters and the slave. Exploiting the flexibility provided by the controller, we design a training strategy for novice surgeons. The proposed architecture is experimentally validated.
A two-layer trilateral teleoperation architecture for mentoring in surgical training / Minelli, M.; Loschi, F.; Ferraguti, F.; Secchi, C.. - 54:19(2021), pp. 267-274. (Intervento presentato al convegno 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021 tenutosi a deu nel 2021) [10.1016/j.ifacol.2021.11.089].
A two-layer trilateral teleoperation architecture for mentoring in surgical training
Minelli M.;Ferraguti F.;Secchi C.
2021
Abstract
In this paper we propose a novel trilateral dual-master-single-slave teleoperation control architecture that can be used for the training of novice surgeons in surgical procedures. Starting from the concept of energy tank, we propose a flexible and stable trilateral interconnection over a delayed communication channel between the masters and the slave. Exploiting the flexibility provided by the controller, we design a training strategy for novice surgeons. The proposed architecture is experimentally validated.
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