Observer-based controller design for the minimally invasive surgery

Eike Smolinski 1 , Alexander Benkmann 1 , Wolfgang Drewelow 1 , Torsten Jeinsch 1  and Hans-Joachim Cappius 2
  • 1 Institute of Automation, Faculty of Computer Science and Electrical Engineering, University of Rostock,, Rostock, Germany
  • 2 WORLD OF MEDICINE GmbH, 10587 Berlin,, Berlin, Germany


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.

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Current Directions in Biomedical Engineering is an open access journal and closely related to the journal Biomedical Engineering - Biomedizinische Technik. CDBME is a forum for the exchange of knowledge in the fields of biomedical engineering, medical information technology and biotechnology/bioengineering for medicine and addresses engineers, natural scientists, and clinicians working in research, industry, or clinical practice.