A Position Control System for a Single-port Laparoscopic Manipulating Robot

• DOI: 10.1109/ieecon53204.2022.9741636
• Publication Date: 2022-03-29T19:51:37Z
• Authors: Amornthep Sonsilp...; Suphachoke Sonsil...; Chaiyong Soemphol; Daranee Hormdee; Kovit Khampitak
• Keywords: Position (finance); Table (database); Port (circuit theory)

The research herein proposes a position control system, designed for single-port surgical robot, based on the lockup table method. programmable logic controller (PLC) was implemented to move single- port robot and handle laparoscope instruments with feedback control. output responses of desired angle were investigated under several conditions. rotating allows movement in range -10 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">o</sup> +10 . error system less than approximately ± 0.1 Moreover, data from experiments may be employed improve open-loop systems. This is also capable providing computer vision task implementation, enabling semi- automatic or surgery future.