Robotic surgery is becoming a popular technique for certain procedures since benefits of minimally invasive surgery (MIS) have become general knowledge. However, one of the major shortcomings of the present generation of master-slave robotic systems is the lack of haptic
feedback; the surgeon that remotely controls the robot is not able to feel what is happening inside the patient. The objective of this thesis was to design a robust control system for a catheter insertion mechanism for cardiac catheterization with haptic feedback. This thesis is divided into two parts. The first part covers a comprehensive literature review, laboratory setup design and implementation. The second part covers the control aspect and design of a robust control. An H∞ controller was used to achieve system robustness. A new approach to find teleoperation system model for H∞ controller is given. The designed controller was implemented in MATLAB. / Thesis (M.S.)--Wichita State University, College of Engineering, Dept. of Mechanical Engineering. / "December 2006."
| Identifer | oai:union.ndltd.org:WICHITA/oai:soar.wichita.edu:10057/663 |
| Date | 12 1900 |
| Creators | Kothari, Chintan Govindbhai |
| Contributors | Bahr, Behnam |
| Source Sets | Wichita State University |
| Language | en_US |
| Detected Language | English |
| Type | Thesis |
| Format | 1526091 bytes, application/pdf |
| Rights | Copyright Chintan Govindbhai Kothari, 2006. All rights reserved. |
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