PID Controllers in Precision Surgical Robots
A Proportional-Integral-Derivative (PID) Controller is a common closed-loop
control mechanism used in medical robots for precise and stable operation.
Proportional Control (P):
o Responds proportionally to the error (difference between desired and
actual output).
o Larger errors result in stronger corrective actions.
o Limitations: May lead to steady-state errors if used alone.
Integral Control (I):
o Addresses steady-state errors by considering the accumulation of past
errors.
o Benefit: Ensures the system reaches and maintains the target output.
o Drawback: Can introduce overshooting or instability if not carefully
tuned.
Derivative Control (D):
o Predicts future errors by assessing the rate of change of error.
o Dampens the system response to prevent overshooting and improve
stability.
o Benefit: Enhances responsiveness and smoothness in high-precision
tasks.
Tuning PID Controllers:
o The gains for P, I, and D are adjusted to achieve the optimal balance of
speed, stability, and accuracy.
o Applications in Medical Robotics: Surgical robots like the da Vinci
system use PID controllers to ensure fine tool positioning during
minimally invasive surgeries.
