Читать книгу Control of Mechatronic Systems - Patrick O. J. Kaltjob - Страница 25

Robot-assisted surgery is using image-guided systems to command and control operations in intravascular surgery, as depicted in Figure 1.6. Such a system has an embedded and integrated control system for its motion and direction, as well as operation monitoring, and motion synchronization between robot arms. Expected control functions include:

1 force control of a robot arm gripper;

2 synchronized angular position and velocity control of each motor-driven robot joint;

3 logic control of real-time anomalies detection (location of the abnormal cell or dysfunctional organ) and inspection using 3D imaging camera processing (color uniformity, selection based on size and shape) and laser ranging sensors;

4 path generation and motion planning (position, speed, and accelerations) for robot navigation while ensuring collision avoidance of the robot manipulator; and

5 logic control of the discrete selection of suitable cutting tools for the robot arms.

Figure 1.6 Image-guided tele-assisted robot intravascular surgery.