Automation Control of the Movement of Robotic Device for Patient Positioning

Abstract

This paper describes the design and control system of a robotic device for patient positioning during different types of examination, tests and surgeries. The paper describes the automotation control of the movement of such device. The paper raises the question of the importance of these developments in modern medical practices, provides examples of work in this area, and also indicates the difficulties in organizing a control system for robotic device, due to the general uncertainty of the systems, involving interacting with humans and necessity of individual programs and laws of movement of device's modules. Also, it is noted, that there are a vast variety of positions of patients, that require a medical facility to have several different types of expensive and skill-requiring equipment. The paper describes the design of the device, the location of the measuring modules, in form of an array of force sensors and the operating principle of the adaptive control system for this device. This paper describes the mathematical modeling of the behavior of this system, and different indicators of reaction between the patient and robotic devise in various positions, allowing the adaptation of device control algorithms.