Open AccessAn Active Compliance Control for A Robotic Wound Closure System
Author(s) -
Edward H. Currie,
Yihua Zhao,
Louis R. Kavoussi,
Sina Y. Rabbany
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/922/1/012007
Subject(s) - impedance control , contact force , fixture , robot end effector , torque , robotic hand , orientation (vector space) , wound closure , computer science , position (finance) , control engineering , control theory (sociology) , engineering , control (management) , simulation , control system , robotic arm , artificial intelligence , robot , mechanical engineering , surgery , medicine , mathematics , electrical engineering , physics , wound healing , geometry , finance , quantum mechanics , economics , thermodynamics
Most approaches to medical robotic compliance control rely upon forces, or torques, exerted on the mechanical arm links. The majority of robotic arms allow only position control, and orientation, of the end-effector. This paper uses a soft control technique to develop a position-correction, impedance method that leads to similar responses to the contact environment for simulation. The system is applied to control the contact force between a fixture and the skin in a robotic, vision-controlled, wound closure system. The experimental results show that the algorithm is successful in controlling contact force in fixture placement on different skin models.