Hybrid Supervisory Control for Biomechatronic Systems for Non-Invasive Surgery

Sunita Chauhan; Swandito Swandito; Gerald Gim Lee Seet

doi:10.4028/www.scientific.net/SSP.147-149.251

Paper Titles

Dependent versus Independent Variable Formulation for the Dynamics and Control of Cranes
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Flight Simulator as a Tool for Flight Control System Synthesis and Handling Qualities Research
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Fuzzy Logic Controller for Position Actuator SMA
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Human-Robot Interaction Controller Based on CMOS Stereo Vision and FPGA Chip
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Hybrid Supervisory Control for Biomechatronic Systems for Non-Invasive Surgery
p.251

Identification of the Inertia of Masses Flowing Water through the Pipes in Water Power Plants
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LuGre Friction Model Estimation of a Precision Table and Sliding Mode Control Design
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Mechatronic System Design Applied to Double Inverted Pendulum with Flywheel Actuator
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Model-Based Control of SMA Actuators with a Recurrent Neural Network in the Shape Control of an Airfoil
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Hybrid Supervisory Control for Biomechatronic Systems for Non-Invasive Surgery

Abstract:

Several factors affect the safe operation of a bio-mechatronic system such as design limitations of the robots to do complex surgical manoeuvres, malfunction of the system’s components, unpredictability of the working envelope to name a few. One measure that can be taken in order to improve the safe performance is to implement a reliable control system. In our research, an optimal control hierarchy and strategy is considered for implementation for non-invasive surgical applications. A control strategy is proposed for supervisory hybrid control using PID and model-based robust control as the parameterized controllers and its implementation for FUSBOTBS (a custom designed robotic system using Focused Ultrasound Surgery for Breast Surgery) is demonstrated. Mechanical feasibility tests and in-vitro experimental trials supported the results with a positioning accuracy within 0.5mm.