Master-slave robotic system for needle indentation and insertion

Figures & data

Figure 1. System components.

Figure 2. System framework for bilateral control: x_m and x_s are the displacements for the master and slave robots, C_c and C_s are the control gains, and Z_h, Z_m, Z_s and Z_e are the impedances caused by the operator, master robot, slave robot and environment, respectively. F_o and F_D are operator’s and the environment’s exogenous input forces and they are independent of the teleoperation system behaviour. F_h represents the interaction force between the operator and master robot, and F_e interaction force between the slave robot and contact environment.

Figure 3. Algorithm of UKF.

Figure 4. Experimental setup for robotic indentation.

Figure 5. Reconstructed forces by RLS, UKF for the case of robotic indentation: The black dash lines indicate the interaction force (the reference), the red solid lines the reconstructed forces by UKF, and the blue solid lines the reconstructed force by RLS.

Table 1. Estimation errors of indentation experiment.

Errors(N)	RLS	UKF
Mean error	1.6432	0.3015
Max error	5.8360	5.6628
RMSE	2.0899	0.6319

Figure 6. Experiment setup for robotic needle insertion into porcine liver.

Figure 7. Reconstructed forces by RLS, UKF and RAUKF for the case of robotic needle insertion: The black dash lines indicate the interaction force (the reference), the red solid lines the reconstructed forces by UKF, and the blue solid lines the reconstructed force by RLS.

Table 2. Estimation errors of needle insertion into a porcine liver sample experiment.

Errors(N)	RLS	UKF
Mean error	0.5894	0.0198
Max error	1.8657	0.3350
RMSE	0.7679	0.0280