Application of Signal Compression into Medical Surgery robot with cable-pulley system

摘要

Robot Technology and Medical Surgery combination has already been implemented into the surgical operation, such as the laparoscopy surgery. For reduce the risk of the Invasive surgery, we use robotic surgery instead of surgeon motion, which can be operated by realizing haptic torque control. But the surgical instrument cannot attach any electric sensors because of the human body obligations. To enhance the haptic force feedback without the sensors, in our system, we use the Pre-tensioned cable beside the instrument torque framework. In this paper, we will generate the feedback impulse signal through linear element using Signal Compression and study the method to estimate the system structure dynamic equation for the whole controller design. We can estimate the unknown parameters from the comparing the Bode diagrams of its impulse response and model's response.