Modeling and control of a parallel robot for needle surgery

Author

D´Angella, S. ; Khan, A. ; Cepolina, F. ; Zoppi, M.

Author_Institution

Fac. of Eng., Univ. of Genoa, Genoa, Italy

fYear

2011

fDate

9-13 May 2011

Firstpage

3388

Lastpage

3393

Abstract

The paper discusses the development of the dynamic model and the design of the control system of a new parallel robot called PmarNeedle. The PmarNeedle was purposely designed for needle surgery, one of the current frontiers of minimally invasive surgery, as slave robot driving the surgical tool within a surgical theater whose dimensions are small compared to in use robotic surgery theaters for laparoscopy. The paper presents the PmarNeedle kinematic and dynamic model used to define the control laws and to setup the control parameters. Simple PD control laws with and without non linearities compensation filters have been implemented. The work is developed in ProEngineer, Simulink and SimMechanics. Results obtained in the simulation environment are discussed.

Keywords

control system synthesis; medical robotics; nonlinear control systems; nonlinear filters; robot dynamics; robot kinematics; surgery; PD control law; PmarNeedle; PmarNeedle dynamic; PmarNeedle kinematic; ProEngineer; SimMechanics; Simulink; control parameter; control system design; minimally invasive surgery; needle surgery; nonlinearity compensation filter; parallel robot control; parallel robot modeling; robotic surgery; slave robot; surgical theater; surgical tool; Instruments; Joints; Kinematics; Mathematical model; Robots; Solid modeling; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5979971

Filename

5979971