Simulation Model for the Dynamics Analysis of a Surgical Assistance Robot

Abstract

The investigation that is described in this chapter has derived an offline model that simulates the system dynamics of the real MODICAS patient tracking procedure very well, independently from the operating point of the system. The model enables the developer to better understand the functional principle of the tracking procedure and to perform a specific tuning of its parameters in order to increase its overall dynamic performance. One model-based experiment has already delivered an improvement of the tracking control strategy. In the future, further experiments will show how the improvement of the localizer device, especially by means of noise reduction and a faster data aqcuistion, can enhance the overall dynamic performance of the tracking procedure.