Dans ce travail de thèse, nous examinons les principaux facteurs affectant la transparence d'un schéma de téléopération dans le contexte de la robotique médicale.Afin de déterminer ces facteurs, une analyse approfondie de l'état de l'art a été réalisée ce qui a permis de proposer une nouvelle classification de schémas de téléopération avec retour haptique.Le rôle de ces principaux facteurs a été analysé.Ces facteurs sont liés à l'architecture de commande appliquée, aux perturbations provoquées par les mouvements physiologiques des tissus manipulés ainsi qu'à la précision du modèle d'interaction robot-tissue.Les performances du schéma de téléopération à architecture 3-canaux ont été analysées en simulation pour choisir une architecture de commande dédiée aux applications médicales.Ensuite, l'influence des mouvements physiologiques de l'environnement manipulé sur la transparence du système a été analysée et un nouveau modèle d'interaction avec des tissus mous a été proposé.Un schéma de commande de téléopération basé modèle d'interaction a été proposé en se basant sur une analyse de passivité du port d'interaction robot-environnement.Enfin, l'importance de la précision du modèle d'interaction (robot-tissue) sur la transparence du schéma de téléopération avec retour d'effort basé-modèle a été analysée.Cette analyse a été validée en théorie et expérimentalement en implémentant le modèle Hunt-Crossly dans une commande utilisant un AOB pour réaliser une téléopération avec retour haptique.En conclusion de ce travail, les résultats de cette thèse ont été discutés et les perspectives futures ont également été proposées. / This thesis investigates the major factors affecting teleoperation transparency in medical context.A wide state of art survey is carried out and a new point of view to classify haptic teleoperation literature is proposed in order to extract the decisive factors providing a transparent teleoperation.Furthermore, the roles of three aspects have been analysed.First, The role of the applied control architecture.To this aim, the performances of 3-channel teleoperation are analysed and guidelines to select a suitable control architecture for medical applications are proposed.The validation of these guidelines is illustrated through simulations.Second, the effects of motion disturbance in the manipulated environment on telepresence are analysed.Consequently, a new model of such moving environment is proposed and the applicability of the proposed model is shown through interaction port passivity investigation.Third analysed factor is the role of the interaction model accuracy on the transparency of interaction control based haptic teleoperation.This analysis is performed theoretically and experimentally by the design and implementation of Hunt-Crossly in AOB interaction control haptic teleoperation.The results are discussed and the future perspectives are proposed.

In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When teleoperation is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in case of contact. When bilateral teleoperation is introduced to the field of medicine, a new challenge arises: the controller needs to be used in both hard and soft environments. For example, in the context of telesurgery, the robot can enter in contact with both bone (hard) and organ (soft). In an attempt to enrich existing controller designs to better suit the medical needs, an adaptive fuzzy logic controller is designed in this text. It simulates human intelligence and adapts the controller to environments of different stiffness coefficients. It is compared to three other classical controllers used in the field of bilateral teleopeartion and demonstrates very interesting potential.

In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When teleoperation is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in case of contact. When bilateral teleoperation is introduced to the field of medicine, a new challenge arises: the controller needs to be used in both hard and soft environments. For example, in the context of telesurgery, the robot can enter in contact with both bone (hard) and organ (soft). In an attempt to enrich existing controller designs to better suit the medical needs, an adaptive fuzzy logic controller is designed in this text. It simulates human intelligence and adapts the controller to environments of different stiffness coefficients. It is compared to three other classical controllers used in the field of bilateral teleopeartion and demonstrates very interesting potential.

This thesis presents a general simulation framework used for evaluating the performance of bilateral teleoperation systems under consistent and controllable network conditions. A teleoperation system is where an operator uses a master device to control a slave robot through a communication link. The communication link between the master and slave has an important impact on the system performance. Network emulation using ns-2 has been proposed as a way of simulating the communication link. It allows for the network conditions to be controlled and for repeatable results. The proposed setup was used to test the performance of a hydraulic actuator under various conditions of wired and wireless networks. Three control schemes were evaluated using various combinations of time delay and packet loss. The system was also tested simulating wireless communication between the master and slave to determine the effects of transmission power and distance on the performance of the system.

This thesis presents a general simulation framework used for evaluating the performance of bilateral teleoperation systems under consistent and controllable network conditions. A teleoperation system is where an operator uses a master device to control a slave robot through a communication link. The communication link between the master and slave has an important impact on the system performance. Network emulation using ns-2 has been proposed as a way of simulating the communication link. It allows for the network conditions to be controlled and for repeatable results. The proposed setup was used to test the performance of a hydraulic actuator under various conditions of wired and wireless networks. Three control schemes were evaluated using various combinations of time delay and packet loss. The system was also tested simulating wireless communication between the master and slave to determine the effects of transmission power and distance on the performance of the system.

In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When teleoperation is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in case of contact. When bilateral teleoperation is introduced to the field of medicine, a new challenge arises: the controller needs to be used in both hard and soft environments. For example, in the context of telesurgery, the robot can enter in contact with both bone (hard) and organ (soft). In an attempt to enrich existing controller designs to better suit the medical needs, an adaptive fuzzy logic controller is designed in this text. It simulates human intelligence and adapts the controller to environments of different stiffness coefficients. It is compared to three other classical controllers used in the field of bilateral teleopeartion and demonstrates very interesting potential.

In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When teleoperation is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in case of contact. When bilateral teleoperation is introduced to the field of medicine, a new challenge arises: the controller needs to be used in both hard and soft environments. For example, in the context of telesurgery, the robot can enter in contact with both bone (hard) and organ (soft). In an attempt to enrich existing controller designs to better suit the medical needs, an adaptive fuzzy logic controller is designed in this text. It simulates human intelligence and adapts the controller to environments of different stiffness coefficients. It is compared to three other classical controllers used in the field of bilateral teleopeartion and demonstrates very interesting potential.

@font-face { font-family: "TimesNewRoman"; }p.MsoNormal, li.MsoNormal, div.MsoNormal { margin: 0in 0in 0.0001pt; font-size: 12pt; font-family: "Times New Roman"; }div.Section1 { page: Section1; } Teleoperated task execution for hazardous environments is slow and requires highly skilled operators. Attempts to implement telerobotic assists to improve efficiency have been demonstrated in constrained laboratory environments but are not being used in the field because they are not appropriate for use on actual remote systems operating in complex unstructured environments using typical operators. This work describes a methodology for combining select concepts from behavior-based systems with telerobotic tool control in a way that is compatible with existing manipulator architectures used by remote systems typical to operations in hazardous environment. The purpose of the approach is to minimize the task instance modeling in favor of a priori task type models while using sensor information to register the task type model to the task instance. The concept was demonstrated for two tools useful to decontamination & dismantlement type operations—a reciprocating saw and a powered socket tool. The experimental results demonstrated that the approach works to facilitate traded control telerobotic tooling execution by enabling difficult tasks and by limiting tool damage. The role of the tools and tasks as drivers to the telerobotic implementation was better understood in the need for thorough task decomposition and the discovery and examination of the tool process signature. The contributions of this work include: (1) the exploration and evaluation of select features of behavior-based robotics to create a new methodology for integrating telerobotic tool control with positional teleoperation in the execution of complex tool-centric remote tasks, (2) the simplification of task decomposition and the implementation of sensor-based tool control in such a way that eliminates the need for the creation of a task instance model for telerobotic task execution, and (3) the discovery, demonstrated use, and documentation of characteristic tool process signatures that have general value in the investigation of other tool control, tool maintenance, and tool development strategies above and beyond the benefit sustained for the methodology described in this work.

Teleoperation systems have been used in the operating rooms for more than a decade. However, the lack of force feedback in commercially available systems still raises safety issues and forbids surgical gestures like palpation. Although force feedback has already been implemented in experimental setups, a systematic methodology is still lacking to design the control laws. The approach developed in this thesis is a contribution towards such a systematic methodology: it combines the use of disturbance observers with the use of a structured fixed-order controller. This approach is validated by experiments performed on a one degree of freedom teleoperation system. A physical model of this system is proposed and validated experimentally. Disturbance observers allow to compensate friction, which is responsible for performance degradation in teleoperation. Contrary to alternative approaches,they are based on a model of the frictionless mechanical system. This allows to compensate friction with a time varying behavior, which occurs in laparoscopy. Parametric uncertainties in this model may lead to an unstable closed-loop. A kind of "separation principle" is provided to decouple the design of the closed-loop system from the design of the observer. It relies on a modified problem statement and on the use of available robust design and analysis tools. A new metric is proposed to evaluate the performance of friction compensation systems experimentally. This metric evaluates the ability of a compensation system to linearize a motion system, irrespective of the task and as a function of frequency. The observer-based friction compensation is evaluated with respect to this new metric and to a task-based metric. It correctly attenuates the friction in the bandwidth of interest and significantly improves position and force tracking during a palpation task. Structured fixed-order controllers are optimized numerically to achieve robust closed-loop performance despite modeling uncertainty. The structure is chosen among classical teleoperation structures. An efficient algorithm is selected and implemented to design such a controller, which is evaluated for a palpation task. It is compared to a full-order unstructured controller, representative of the design approach that has been used in the teleoperation literature up to now. The comparison highlights the advantages of our new approach: order-reduction steps and counter-intuitive behaviors are avoided. A structured fixed-order controller combined with a disturbance observer is implemented during a needle insertion experiment and allowed to obtain excellent performance.

This thesis treats the subject of applying human motion models to create estimators for the input signals of human operators controlling a telerobotic system.In telerobotic systems, the control signal input by the operator is often treated as a known quantity. However, there are instances where this is not the case. For example, a well-studied problem is teleoperation under time delay, where the robot at the remote site does not have access to current operator input due to time delays in the communication channel. Another is where the hardware sensors in the input device have low accuracy. Both these cases are studied in this thesis. A solution to these types of problems is to apply an estimator to the input signal. There exist several models that describe human hand motion, and these can be used to create a model-based estimator. In the present work, we propose the use of the minimum jerk (MJ) model. This choice of model is based mainly on the simplicity of the MJ model, which can be described as a fifth degree polynomial in the cartesian space of the position of the subject's hand. Estimators incorporating the MJ model are implemented and inserted into control systems for a teleoperatedrobot arm. We perform experiments where we show that these estimators can be used for predictors increasing task performance in the presence of time delays. We also show how similar estimators can be used to implement direct position control using a handheld device equipped only with accelerometers. / QC 20100810