Fuzzy Control of Laparoscopic Surgical Robot Designed for Use in Minimally Invasive Surgery

Year 2018, Volume: 6 Issue: 4, 65 - 70, 31.12.2018

Serhat Aksungur , Oğuz Yakut

Abstract

: Nowadays, the use of robot technologies has become
widespread. Robots that have been confronted in many sectors have also been
used in surgical operations in recent years. RCM (Remote Center of Motion)
mechanisms take the place of these robots, which have less space-consuming and
specially designed for operation. Reduced space requirements and lower
maintenance costs are the greatest advantages of these mechanisms.

In this study, some of the RCM
mechanisms which used in surgical operations are mentioned. A unique and
original surgical robot designed for laparoscopic surgical purposes which is
not in the literature of robots, has been described. This surgical robot was
designed with a 3D CAD program and motion of robot was analyzed. Robot control
was performed using fuzzy control method. Dynamic equations of robot which used
at fuzzy control were obtained with Lagrangian mechanics. MATLAB software has
been used for robot control. Used membership function parameters of fuzzy control
were optimized with genetic algorithm method. Obtained fuzzy control graphics
with MATLAB were given in the result section.

Keywords

Surgical robot, RCM mechanism, Lagrangian motion equations, fuzzy control

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