Search for Optimal Parameters in the Control Structure of a Surgical System for Soft Tissue Operations Based on In Vitro Experiments on Cardiovascular Tissue
Grzegorz Ilewicz,
Edyta Ładyżyńska-Kozdraś
Abstract:The surgical robots currently used in cardiac surgery are equipped with a remote center of motion (RCM) mechanism that enables the required spherical workspace. The dynamics model of the surgical robot’s RCM mechanism presented in this work includes a direct current (DC) motor, an optimal proportional–integral–derivative (PID) controller, and a LuGre friction model that takes into account the Stribeck effect and surface deformation. A finite element method (FEM) analysis of transients was carried out using the… Show more
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