Study of the Force Control and Visual Servoing via an Orthopedic Surgical Robot

• Main Authors: Wei-Sheng Huang, 黃瑋勝
• Other Authors: Ping-Lang Yen
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/42379507530868387020

碩士 === 國立臺灣大學 === 生物產業機電工程學研究所 === 100 === Total knee replacement (TKR) is usually taken for patients with degenerative arthritis. The TKR surgery is to cut off the injured cartilage and replace with the artificial knee joint. The success of TKP is highly related to the accuracy and stability of the artificial implant, thus many computer-assisted surgery systems have been developed and proven to be more accurate than the traditional counterpart. The study is to focus on robot-assisted surgical system where an ABB robot arm with TKR navigation software has been used. The robot is under visual servo control together with admittance force control. In such way, the pose relationship between the cutter and the bone can be fixed, and the robot can also perform bone cutting for the operator. However, the robot with visual servo and force control, will interact with human operator may cause stability issue. The main purpose of the study is to build up a dynamic control model to analyze this issue. Through the preliminary analysis, stability can be deteriorated when the robot arm contacts the hard surroundings. This problem can be effectively solved by introducing an additional contact damping to the controller.