Basic Notes of Control Systems in Medical Robotics
Control systems govern the behavior of medical robots, ensuring precise, safe, and
reliable performance. These systems translate input commands into the desired
motions and actions of robotic components. Key concepts include open-loop and
closed-loop control, PID controllers, and real-time feedback with adaptive control.
1. Open-loop vs. Closed-loop Control
Open-loop Control:
o Operates without feedback from the system’s output.
o The controller sends a predetermined input signal to the actuator,
assuming the desired result will occur.
o Advantages: Simpler, faster, and cost-effective for systems where
outcomes are predictable.
o Disadvantages: Prone to inaccuracies due to environmental changes
or unforeseen disturbances.
o Applications in Medical Robotics: Rarely used in critical surgical
robots due to its lack of feedback but may be suitable for simple tasks
like moving objects in rehabilitation robots.
Closed-loop Control:
o Uses feedback from sensors to adjust the control input dynamically.
o Continuously monitors the system’s output and compares it with the
desired outcome, making corrections as needed.
o Advantages: High accuracy, robustness to disturbances, and
adaptability to varying conditions.
o Applications in Medical Robotics: Widely used in surgical robots to
maintain precision and compensate for variability, such as patient
movement during a procedure.
