Dynamic modeling and trajectory tracking control for a 3-DOF instrument in minimally invasive surgery

摘要

The trajectory tracking control of 3-DOF instrument is very important for master-slave control robotic-assisted minimally invasive surgery. In this paper, dynamic structure and equation of motion for the 3-DOF instrument was established to use the Euler-Lagrange method based on screw theory. A control scheme is designed based on the computed-torque controller and a RBF neural network based compensating controller, which makes full used of the model-based control approach and uses the RBF neural network controller to compensate for the 3-DOF instrument modeling uncertainties. Dynamic trajectory tracking control simulations are carried out on a 3-DOF instrument. The simulations results demonstrate validity of the derived model and show excellent tracking capability of the designed control scheme.