A study on contouring control for a surgical servo-mechanism

• Main Authors: Shih-Chieh Lee, 李士杰
• Other Authors: M. C. Tsai
• Format: Others
• Language: zh-TW
• Published: 1993
• Online Access: http://ndltd.ncl.edu.tw/handle/83085066637133469420

碩士 === 國立成功大學 === 機械工程研究所 === 81 === This thesis is to construct a control system prototype for a speical surgical servomechanism. The purpose of the of the control system is that receiving the medical image to generate the cutting path and control the servomechanism to perform the TUR (Transurethral Resection) operation. The main work including motion control and path planning. Robust axis controller are obtained using $H^\infty$ control theory while an $H^\infty$ pole placement method is developed for achieving the design criteria of "relax performance". The reference commands of positional loops are generated by the work of path planning. Integrating with medical image-processing and the surgical servomechanism to setup the prototype system, then the concept of the automatic operation could be testing and justified with this system. Finally, a medical image getten from real body was used to test and demonstrate accurary of the experimental control system.