Evaluation of position tracking based control system for robotic assisted minimally invasive surgery system
Conference: BIBE 2018 - International Conference on Biological Information and Biomedical Engineering
06/06/2018 - 06/08/2018 at Shanghai, China
Proceedings: BIBE 2018
Pages: 4Language: englishTyp: PDF
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Authors:
Xiong, Liang; Fu, Jianting; Xiang, Yang; Xie, Yi (Chongqing Institutes of Green and Intelligent Technology, Chinese Academy of Sciences Chongqing, China)
Abstract:
Robotic assisted minimally invasive surgery (RAMIS) overcomes most of the drawbacks of traditional minimally invasive surgery, and is widely used around the world. However, hysteresis caused by mechanism and control system has great impact on teleoperation. This paper presents an evaluation of the distributed control system based on position tracking for teleoperation. Firstly, position tracking based teleoperation control system and master-slave incremental control algorithm is introduced. Then, technical tests, including step response of each joint and trajectory motion tracking experiment, are carried out on the prototype of manipulator.