Model-Aided Controller Evaluation for a Surgical Assistance Robot to Track Patient Movements in Real Time

H.-C. Schneider, J. Wahrburg, H. Roth
2011 IFAC Proceedings Volumes  
This contribution describes the model-aided development and evaluation of a surgical robot motion controller that has been performed in order to improve the robot's dynamic behavior during optically navigated real time surgical instrument tracking. The navigation of the robot is realized using a camera-based optical 3D localizing system for visual servoing feedback. In this paper, we present a model-based controller that improves the dynamics of surgical instrument tracking, under the
more » ... n of the limited measurement rate of common optical localizer systems and the use of a velocity-driven robot arm.
doi:10.3182/20110828-6-it-1002.00483 fatcat:fr6uijlfofgvnckqk3m5ft42je