{"id":16192,"date":"2025-04-09T09:14:47","date_gmt":"2025-04-09T02:14:47","guid":{"rendered":"https:\/\/ise.ait.ac.th\/?p=16192"},"modified":"2025-04-09T09:14:47","modified_gmt":"2025-04-09T02:14:47","slug":"observer-based-dynamic-control-model-for-bilaterally-controlled-mu-laparobot-surgical-tool-force-limiting","status":"publish","type":"post","link":"https:\/\/ise.ait.ac.th\/?p=16192","title":{"rendered":"Observer based dynamic control model for bilaterally controlled MU-LapaRobot: surgical tool force limiting"},"content":{"rendered":"<p><span style=\"color: #0000ff;\"><strong>Branesh M. Pillai, Chumpon Wilasrusmee, Jackrit Suthakorn<\/strong><\/span><\/p>\n<p>This study introduces a robotic system for laparoscopic surgical tool insertion,<br \/>\nincorporating observer-based dynamic and robot-assisted bilateral control. The<br \/>\nsystem, validated using the MU-LapaRobot, features a virtual spring<br \/>\ndamper force lock to enhance precision and safety during surgery. Experimental<br \/>\nresults showed low force and position errors, confirming the algorithm&#8217;s<br \/>\neffectiveness in improving surgical accuracy and minimizing excessive force.<\/p>\n<p><img fetchpriority=\"high\" decoding=\"async\" src=\"https:\/\/ise.ait.ac.th\/wp-content\/uploads\/2025\/04\/ea204a35f3a0ba3631a350b3cb68ac66-6-300x169.jpg\" alt=\"\" width=\"423\" height=\"238\" class=\"alignnone  wp-image-16193\" srcset=\"https:\/\/ise.ait.ac.th\/wp-content\/uploads\/2025\/04\/ea204a35f3a0ba3631a350b3cb68ac66-6-300x169.jpg 300w, https:\/\/ise.ait.ac.th\/wp-content\/uploads\/2025\/04\/ea204a35f3a0ba3631a350b3cb68ac66-6-1024x576.jpg 1024w, https:\/\/ise.ait.ac.th\/wp-content\/uploads\/2025\/04\/ea204a35f3a0ba3631a350b3cb68ac66-6-768x432.jpg 768w, https:\/\/ise.ait.ac.th\/wp-content\/uploads\/2025\/04\/ea204a35f3a0ba3631a350b3cb68ac66-6-1536x864.jpg 1536w, https:\/\/ise.ait.ac.th\/wp-content\/uploads\/2025\/04\/ea204a35f3a0ba3631a350b3cb68ac66-6-2048x1152.jpg 2048w\" sizes=\"(max-width: 423px) 100vw, 423px\" \/><\/p>\n<p>Pillai BM, Chumpon Wilasrusmee, Jackrit Suthakorn. Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting.<br \/>\nInternational Journal of Electrical and Computer Engineering (IJECE). 2020 Jan 29;10(1):828\u20138.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Branesh M. Pillai, Chumpon Wilasrusmee, Jackrit Suthakorn This study introduces a robotic system for laparoscopic surgical tool insertion, incorporating observer-based dynamic and robot-assisted bilateral control. The system, validated using the MU-LapaRobot, features a virtual spring damper force lock to enhance precision and safety during surgery. Experimental results showed low force [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":16193,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"categories":[11],"tags":[],"class_list":["post-16192","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-highlighted-research"],"aioseo_notices":[],"_links":{"self":[{"href":"https:\/\/ise.ait.ac.th\/index.php?rest_route=\/wp\/v2\/posts\/16192","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ise.ait.ac.th\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ise.ait.ac.th\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ise.ait.ac.th\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ise.ait.ac.th\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=16192"}],"version-history":[{"count":1,"href":"https:\/\/ise.ait.ac.th\/index.php?rest_route=\/wp\/v2\/posts\/16192\/revisions"}],"predecessor-version":[{"id":16194,"href":"https:\/\/ise.ait.ac.th\/index.php?rest_route=\/wp\/v2\/posts\/16192\/revisions\/16194"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/ise.ait.ac.th\/index.php?rest_route=\/wp\/v2\/media\/16193"}],"wp:attachment":[{"href":"https:\/\/ise.ait.ac.th\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=16192"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ise.ait.ac.th\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=16192"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ise.ait.ac.th\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=16192"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}