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BY-NC-ND 4.0 license Open Access Published by De Gruyter September 22, 2018

Observer-based controller design for the minimally invasive surgery

  • Eike Smolinski EMAIL logo , Alexander Benkmann , Wolfgang Drewelow , Torsten Jeinsch and Hans-Joachim Cappius

Abstract

Due to its advantages like minimal trauma and a low risk of infections, the minimally invasive surgery (MIS) has become the standard operation technique for many surgical procedures. During this type of intervention, one of the main tasks from a technical point of view is the control of the pressure in the operation area in order to give the surgeon sufficient space to perform his actions. Because no invasive measurements are available, an extended Kalman filter incorporating the peristaltic behavior of the used medical device was developed to estimate the pressure in the operation area. This contribution focuses on the observer design while a separately designed PI controller using loop shaping was employed for validation. The proposed observer-based control structure was tested with a simulator deploying the principle of physical equivalence.

Published Online: 2018-09-22
Published in Print: 2018-09-01

© 2018 the author(s), published by Walter de Gruyter Berlin/Boston

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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