System Identification of Beating Heart Medical Surgery Assisted Robot

Fan Liang; Li Li Yang; Shi Gang Cui; Li Zhao; Xing Li Wu; Li Guo Tian

doi:10.4028/www.scientific.net/AMM.577.1262

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 577System Identification of Beating Heart Medical...

System Identification of Beating Heart Medical Surgery Assisted Robot

Abstract:

The wide bandwidth and high amplitude feature of the beating heart motion makes surgeon hard to achieve the coronary artery bypass graph surgery on his or her own. The robot could help to cancel the relative motion between the end effecter of the robotic tool and certain point on the heart surface. Therefore a stationary operation screen could be used for the surgeon. The precise robot modeling is the prerequisite for tracking control algorithm. In the paper, we process the input and output data by using the nonlinear optimization method to obtain the system model. Next, we discuss the system identification related problems and modify the model. Finally, a good system model is achieved.

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Periodical:

Applied Mechanics and Materials (Volume 577)

Pages:

1262-1265

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.577.1262

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Online since:

July 2014

Authors:

Fan Liang*, Li Li Yang, Shi Gang Cui, Li Zhao, Xing Li Wu, Li Guo Tian

Keywords:

Surgery Assisted Robotics, System Identification, System Modeling, Tracking Control

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