Trajectory tracking of the robot end effector for the minimally invasive surgeries

Autor: Panuncio Cruz, Enrique Garcia, Cesar Felipe Juarez, José de Jesús Rubio, Jesus Lopez, David Ricardo Cruz
Rok vydání: 2020
Předmět:
Zdroj: International Journal of Business Intelligence and Data Mining. 16:66
ISSN: 1743-8195
1743-8187
DOI: 10.1504/ijbidm.2020.103843
Popis: The surgery technology has been highly investigated, with the purpose to reach an efficient way of working in medicine. Consequently, robots with small tools have been incorporated in many kind of surgeries to reach the following improvements: the patient gets a faster recovery, the surgery is not invasive, and the robot can access to the body occult parts. In this article, an adaptive strategy for the trajectory tracking of the robot end effector is addressed; it consists of a proportional derivative technique plus an adaptive compensation. The proportional derivative technique is employed to reach the trajectory tracking. The adaptive compensation is employed to reach approximation of some unknown dynamics. The robot described in this study is employed in minimally invasive surgeries.
Databáze: OpenAIRE