Automatica (Journal of IFAC)
Robust Control of Nonlinear Uncertain Systems
Robust Control of Nonlinear Uncertain Systems
Control Using Logic-Based Switching
Control Using Logic-Based Switching
Fundamentals of Robotics: Analysis and Control
Fundamentals of Robotics: Analysis and Control
Modelling and Identification in Robotics
Modelling and Identification in Robotics
Advanced Modern Control System Theory and Design
Advanced Modern Control System Theory and Design
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Robust Control Design with MATLAB® (Advanced Textbooks in Control and Signal Processing)
Robust Control Design with MATLAB® (Advanced Textbooks in Control and Signal Processing)
Active filtering of physiological motion in robotized surgery using predictive control
IEEE Transactions on Robotics
A survey of fuzzy logic monitoring and control utilisation in medicine
Artificial Intelligence in Medicine
Robot-Assisted Needle Steering Using a Control Theoretic Approach
Journal of Intelligent and Robotic Systems
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In this paper, a hybrid supervisory control approach adopted for a non-invasive medical robot called Focused Ultrasound Surgical Robot--Breast Surgery (FUSBOT-BS) is elaborated. The system was built for the use in the breast surgery with high intensity focused ultrasound (HIFU) as the means of the treatment. A number of different control strategies such as PID and model-based control were incorporated into a family of controllers to create the hybrid control. Depending on the objective, the supervisory control determines the type of controller used for the specified task so as to maximize the advantages of each of the controllers. Before it was implemented into the actual robotic system the then proposed control approach was modeled and simulated using Matlab®. This control approach was developed based on a review of popular control approaches used in medical robotic systems, in order to look at the feasibility of having a uniform control strategy for a spectrum of medical robotic system. With unified control strategy it is possible to have a safety standard regulation for the medical robotic systems which is currently difficult to be done because of various control strategies adopted by each of the medical robotic systems.