In this thesis, the problem of controlling a surgical masterand slave system with force reflection is studied. The problemof stiff contacts between the slave and the environment isgiven specific attention. The work has been carried out at KTHbased on an initial cooperation with Karolinska Sjukhuset. Theaim of the over all project is to study the possibilities forintroduction of a force reflective teleoperator in neurologicalskullbase operations for the particular task of bone millingand thereby, hopefully, increase patient safety, decreasesurgeon workload and cost forthe society. The main contributions of this thesis are: Derivation of a dynamical model of the master andoperator’s finger system and, experimental identificationof ranges on model parameter values. Based on this model, theinteraction channel controllers optimized for transparency arederived and modified to avoid the influence of the uncertainmodel parameters. This results in a three channel structure. Todecrease the influence of the uncertain parameters locally atthe master, a control loop is designed such that the frequencyresponse of the reflected force is relatively unaffected by theuncertainties, a result also confirmed in a transparencyanalysis based on the H-matrix. The developed teleoperatorcontrol structure is tested in experiments where the operatorcould alter the contact force without facing any problems aslong as the slave is in contact with the environment. As a result of the severe difficulties for the teleoperatorto move from free space motion to in-contact manipulationwithout oscillative behaviour, a new detection algorithm basedon passivity theory is developed. The algorithm is able todetect the non-passive behaviour of the actual teleoperatorinduced by the discrete change in system dynamics occurring atthe contact instant. A stabilization controller to be activatedby the detection algorithm is designed and implemented on themaster side of the teleoperator. The detection algorithm andthe stabilization controller are shown highly effective in realexperiments. All major research results presented in the thesis have beenverified experimentally. KeywordsTeleoperator, Force Feedback, Passivity, StiffContacts, Control, Robustness, Transparency, Bone Milling,Uncertainty

<p>In this thesis, the problem of controlling a surgical masterand slave system with force reflection is studied. The problemof stiff contacts between the slave and the environment isgiven specific attention. The work has been carried out at KTHbased on an initial cooperation with Karolinska Sjukhuset. Theaim of the over all project is to study the possibilities forintroduction of a force reflective teleoperator in neurologicalskullbase operations for the particular task of bone millingand thereby, hopefully, increase patient safety, decreasesurgeon workload and cost forthe society.</p><p>The main contributions of this thesis are:</p><p>Derivation of a dynamical model of the master andoperator’s finger system and, experimental identificationof ranges on model parameter values. Based on this model, theinteraction channel controllers optimized for transparency arederived and modified to avoid the influence of the uncertainmodel parameters. This results in a three channel structure. Todecrease the influence of the uncertain parameters locally atthe master, a control loop is designed such that the frequencyresponse of the reflected force is relatively unaffected by theuncertainties, a result also confirmed in a transparencyanalysis based on the H-matrix. The developed teleoperatorcontrol structure is tested in experiments where the operatorcould alter the contact force without facing any problems aslong as the slave is in contact with the environment.</p><p>As a result of the severe difficulties for the teleoperatorto move from free space motion to in-contact manipulationwithout oscillative behaviour, a new detection algorithm basedon passivity theory is developed. The algorithm is able todetect the non-passive behaviour of the actual teleoperatorinduced by the discrete change in system dynamics occurring atthe contact instant. A stabilization controller to be activatedby the detection algorithm is designed and implemented on themaster side of the teleoperator. The detection algorithm andthe stabilization controller are shown highly effective in realexperiments.</p><p>All major research results presented in the thesis have beenverified experimentally.</p><p><b>Keywords</b>Teleoperator, Force Feedback, Passivity, StiffContacts, Control, Robustness, Transparency, Bone Milling,Uncertainty</p>

Submitted by Oliveira Santos Dilzaná (dilznana@yahoo.com.br) on 2016-07-05T19:00:14Z No. of bitstreams: 1 Dissertação del Ana Soraya Vilasboas Bomfim.pdf: 26048886 bytes, checksum: aa35e4f9fbd84e0ed5080dd311a3a5cd (MD5) / Approved for entry into archive by Oliveira Santos Dilzaná (dilznana@yahoo.com.br) on 2016-07-06T12:31:20Z (GMT) No. of bitstreams: 1 Dissertação del Ana Soraya Vilasboas Bomfim.pdf: 26048886 bytes, checksum: aa35e4f9fbd84e0ed5080dd311a3a5cd (MD5) / Made available in DSpace on 2016-07-06T12:31:20Z (GMT). No. of bitstreams: 1 Dissertação del Ana Soraya Vilasboas Bomfim.pdf: 26048886 bytes, checksum: aa35e4f9fbd84e0ed5080dd311a3a5cd (MD5) / O principal objetivo deste estudo é compreender o trabalho de teleatendimento, partindo-se da hipótese de que o capital se apropria da emoção humana para transformá-la em “habilidade emocional”, como meio e instrumento para produzir mais trabalho e mais riqueza, condição essa que tem levado ao adoecimento crescente dos trabalhadores. Por meio de estudo de caso, que articula estratégias quantitativas e qualitativas, procurou-se captar as peculiaridades do “saber fazer”, na ótica de quem faz, a fim de entender a realidade do trabalho nas centrais de teleatividade, utilizando conceitos e características da Sociologia do Trabalho e da saúde do trabalhador. Realizaram-se 33 entrevistas individuais e formou-se um grupo focal. Dos casos estudados, resultou ser tal população predominantemente do sexo feminino, de moradores em bairros de baixa renda, sob uma organização de trabalho de forte exigência temporal, fluxo informacional intenso, em tempo padrão, obedecendo a um roteiro formatado que eles repetem seguidamente, e ainda, que os serviços/produtos são diversos conforme a empresa contratante. Executa-se o trabalho com emoções contidas, administrando-se também as emoções do cliente usuário, a fim de obter mais lucro. Para os teleoperadores do século XXI, as estruturas das centrais de teleatividades representam a sociedade empresarial das Novas Tecnologias, onde o trabalho continua pouco prazeroso e alienante como o da fábrica, além de constituir uma sobrecarga física e mental com elevada prevalência de doenças osteomusculares, do sistema nervoso, do aparelho respiratório, e transtornos mentais e comportamentais. The main goal of this study is to understand teleassistance work, taking on the general hypothesis that capital appropriates human emotion to transform it in ‘emotional ability’, as instrument and means of producing more work and wealth, and this condition has induced to workers’ increasing condition of sickness. The study of case articulates qualitative and quantitative strategies and points to capture ‘the knowledge of doing’ from the actor’s viewpoint, to understand the reality of work in teleactivity centers. Conceptions and characteristics of Work Sociology as well as about worker’s health conditions have been used, thirty three interviews were carried out and a focal group formed. From the studied cases it turned out to be the population predominantly of female sex, living in quarters of low income, there is high demand of time in work organization, intense informational flow in standard time according to a formatted schedule that they continuously repeat, and that services or products are diverse among the contractual companies. They do their work with contained emotions also managing the clients’/ users’ feelings, aiming at more profit. To XXI century teleoperators, the structures of teleactivity centers represent the enterpriser’s society of New Technologies, where their work stays little pleasing and alienating as the one in factory. It also requires physical and mental overweight with high prevalence of osteomuscular sickness, damages of the nervous system, breathing apparatus diseases and mental and behavior problems.