Control Method for Surgical Robot to Prevent Overload at Vulnerable Tissue

摘要

Organs have many vulnerable tissues such as blood vessels and nerves which must never be damaged. This paper shows a control method which prevents the overload of vulnerable tissues. Firstly, the force control method, which prevents overload, is shown. Secondly, a FEM-based stress observer using the organ model is described. Finally, a control method incorporating the first and second steps, and which prevents overload at vulnerable tissue, is shown. Based on the experimental result of positional and stress data; it is shown that the stress at vulnerable tissues didn't widely exceed limit stress, in the event that a target position potentially resulting in damage to vulnerable tissue was ordered.