Parameter setting method considering variation of organ stiffness for the control method to prevent overload at fragile tissue

We describe a control method, for a surgical robot, which prevents the overload at fragile tissues. In particular, we focused on the control parameter setting method to ensure the robustness of the performance relative to the variation of the organ stiffness parameter. Firstly, we present Position/ Limited Stress control to achieving both precise positioning and prevention of overload. FEM based organ model was used to estimate the stress in this control method. Secondly, we describe the control parameter setting method. The control parameter was set to realize sufficient performance within the range of stiffness variation. Finally, we carried out a numerical simulation and an in vitro experiment. The simulation result suggests that our control method and parameter setting method helps prevent stress overload, not depending on the stiffness of organ model. The in vitro experimental result suggests that our method helps prevent stress overload of the in vitro-liver, the stiffness parameter of which is unknown.