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|Title:||MOTION CONTROL OF SEMI-AUTOMATED SURGICAL DEVICE||Authors:||LAU JUN YIK||Keywords:||adaptive control, disturbance observer, impedance control, motion control, neural network, sliding mode control||Issue Date:||1-Aug-2018||Citation:||LAU JUN YIK (2018-08-01). MOTION CONTROL OF SEMI-AUTOMATED SURGICAL DEVICE. ScholarBank@NUS Repository.||Abstract:||Otitis media with effusion is one of the most common childhood infections, and grommet insertions are done for chronic otitis media which have failed medical therapy. Piezoelectric actuator driven device is a promising trend to achieve high performance for the next generation of medical robotics products and a piezoelectric actuator-based medical device have been developed to treat otitis media with effusion. However, piezoelectric actuator performance is limited by disturbances, noises, and perturbations. This thesis presents several motion control algorithms for a semi-automated ear surgical device called ventilation tube applicator (VTA), including sliding mode control, impedance control, neural network control, and adaptive control. The ear surgical device, VTA is used as the case study to validate the theoretical results and the effectiveness of the proposed algorithms. The results have shown that the developed techniques can be used to improve the motion control performance and grommet insertion success rate.||URI:||http://scholarbank.nus.edu.sg/handle/10635/150357|
|Appears in Collections:||Ph.D Theses (Open)|
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