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Current Directions in Biomedical Engineering

Joint Journal of the German Society for Biomedical Engineering in VDE and the Austrian and Swiss Societies for Biomedical Engineering

Editor-in-Chief: Dössel, Olaf

Editorial Board: Augat, Peter / Buzug, Thorsten M. / Haueisen, Jens / Jockenhoevel, Stefan / Knaup-Gregori, Petra / Kraft, Marc / Lenarz, Thomas / Leonhardt, Steffen / Malberg, Hagen / Penzel, Thomas / Plank, Gernot / Radermacher, Klaus M. / Schkommodau, Erik / Stieglitz, Thomas / Urban, Gerald A.

Open Access
Online
ISSN
2364-5504
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Observer-based controller design for the minimally invasive surgery

Eike Smolinski
  • Corresponding author
  • Institute of Automation, Faculty of Computer Science and Electrical Engineering, University of Rostock, Rostock, Germany
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/ Alexander Benkmann
  • Institute of Automation, Faculty of Computer Science and Electrical Engineering, University of Rostock, Rostock, Germany
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/ Wolfgang Drewelow
  • Institute of Automation, Faculty of Computer Science and Electrical Engineering, University of Rostock, Rostock, Germany
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/ Torsten Jeinsch
  • Institute of Automation, Faculty of Computer Science and Electrical Engineering, University of Rostock, Rostock, Germany
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/ Hans-Joachim Cappius
Published Online: 2018-09-22 | DOI: https://doi.org/10.1515/cdbme-2018-0011

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.

Keywords: modeling; observer-based control; disturbance rejection; minimally-invasive surgery; peristaltic pumps

About the article

Published Online: 2018-09-22

Published in Print: 2018-09-01


Citation Information: Current Directions in Biomedical Engineering, Volume 4, Issue 1, Pages 41–44, ISSN (Online) 2364-5504, DOI: https://doi.org/10.1515/cdbme-2018-0011.

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