Abstract
A force generator module (FGM) based on magnetorheological fluid (MRF) was developed to provide force-feedback information for applications in tele-robotic bone biopsy procedures. The FGM is capable of rapidly re-producing a wide range of forces that are common in bone biopsy applications. As a result of the nonlinear nature of MRF, developing robust controllers for these mechanisms can be challenging. In this paper, we present a case study motivated by robotic bone biopsy. We use a non-linear Hammerstein-Wiener (H-W) estimator to address this challenge. The case is presented through three studies. First, an experiment to develop design constraints is presented and describes biopsy force measurements for various animal tissues. Required output forces were found to range between <1 N and <50 N. A second study outlines the design of the FGM and presents the experimental characterization of the hysteretic behavior of the MRF. This data is then used as estimators and validators to develop the nonlinear Hammerstein-Wiener (H-W) model of the MRF. Validation experiments found that the H-W model is capable of predicting the behavior of the MRF device with 95% accuracy and can eliminate hysteresis in a closed-loop control system. The third study demonstrates the FGM used in a 1-DOF haptic controller in a simulated robotic bone-biopsy. The H-W control tracked the input signal while compensating for magnetic hysteresis to achieve optimal performance. In conclusion, the MRF-based device can be used in surgical robotic operations that require a high range of force measurements.
Highlights
Telerobotic surgery is being increasingly applied to a variety of medical procedures
This paper presents the development of a prototype force generator module
We present a series of three studies that progressively build to outline the development of a force generating module (FGM) for use in constructing haptic feedback master-manipulators for bone-biopsy procedures
Summary
Telerobotic surgery is being increasingly applied to a variety of medical procedures. Such systems provide haptic feedback to the operator to realistically transmit tissue interactions for safe and appropriate manipulation. Current haptic interfaces have several shortcomings that limit their use in medical applications such as a bone biopsy. Many existing medical haptic devices currently used are intended for soft tissue manipulation. In applications such as bone biopsies, Actuators 2018, 7, 83; doi:10.3390/act7040083 www.mdpi.com/journal/actuators. Actuators 2018, 7, 83 surgeons must penetrate both soft tissue and hard tissue and, require haptic technologies capable of rapidly shifting between the sensation of small and large forces that would be associated with such tissues. There is no commercially available device that reliably provides such performance
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