| Popis: |
Minimally-invasive surgery, notably with the use of robots, is a rapidly growing area due to the potential benefits of faster recovery times and lower risk of infection relative to conventional surgery. However, current practice is slow and cumbersome, motivating research in more competent and more efficient robotic surgery. Current research includes robotic assistants that could perform long, repetitive tasks such as suturing. For these assistants, two controllers were developed that obey the portal constraint while maintaining a compliant tip. The first controller was a variation of Natural Admittance Control. The second merged Natural Admittance Control and hybrid force/position control. The results showed that the hybrid controller is 3.5 times better at conforming to the portal kinematic constraint than the Natural Admittance Control algorithm. |
