Dynamic modeling and trajectory tracking control for a 3-DOF instrument in minimally invasive surgery

  • Authors:

  • Hongqiang Sang;Chao He;Jianmin Li;Lin'an Zhang

  • Affiliations:

  • Department of Mechanical Engineering, Tianjin University, Tianjin, China;Department of Mechanical Engineering, Tianjin University, Tianjin, China;Department of Mechanical Engineering, Tianjin University, Tianjin, China;Department of Mechanical Engineering, Tianjin University, Tianjin, China

  • Venue:
  • ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
  • Year:
  • 2009

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Abstract

The trajectory tracking control of 3-DOF instrument is very important for master-slave control robotic-assisted minimally invasive surgery. In this paper, dynamic structure and equation of motion for the 3-DOF instrument was established to use the Euler-Lagrange method based on screw theory. A control scheme is designed based on the computed-torque controller and a RBF neural network based compensating controller, which makes full used of the model-based control approach and uses the RBF neural network controller to compensate for the 3-DOF instrument modeling uncertainties. Dynamic trajectory tracking control simulations are carried out on a 3-DOF instrument. The simulations results demonstrate validity of the derived model and show excellent tracking capability of the designed control scheme.