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Design and Implimentation of an Online Robust Model Predictive Controller for Stabilization and Transparency of Sinus Surgery Haptic Simulator

Khadivar, Farshad | 2017

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49334 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza; Moradi, Hamed
  7. Abstract:
  8. No one bears thinking about undergoing a surgery by an unexpirienced surgeon, the consideration of which implies the prominence of effective surgical trainings. The advent of utilizing haptic interfaces as a novelty in this field has led to a more promising surgery education. These haptic interfaces consist of three communicating parts namely: operator’s hand, haptic robot, and tissue virtual environment. Design and implementation of a proper controller in order to stabilize the haptic interface during surgery simulation, with acceptable transparency, is still novel an otherwise challenging research field. In this thesis we consider an appropriate nonlinear model for both virtual tissue as well as haptic robot on the one hand; and propose a novel online robust model predictive controller, enjoying an offline robust observer, on the other hand. First, the dynamic of the haptic robot is identified using a piecewise linear model. Thereafter, a five-parameter-dynamic-model has been suggested and identified for interconnected user’s hand. By means of a falcon robot, as the haptic interface, and the other required interfacing elements, the effectiveness of aforementioned controller on sinus surgery simulators came under scrutiny. The experimental results, show that the robot is able to effectively track the dynamic of virtual tissue using the proposed robust model predictive controller
  9. Keywords:
  10. Model Predictive Control ; Haptic Interface ; Robust Controller ; Gain Scheduling ; Surgery Simulator ; Sphenoidal Sinus ; Virtual Invironment

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