An adaptive admittance control strategy with reference trajectory for head and neck cancer robotic surgery

An adaptive admittance control strategy with reference trajectory for head and neck cancer robotic surgery

연구 분야: Software Development

학회: Signal, Image and Video Processing

In robot-assisted head and neck cancer surgery, time-varying dynamic parameters of soft tissues and variation of robot’s postural adjustments induce uncertain parameter fluctuation of dynamic model in the control system. Within the confined intraoral surgical space, frequent hand tremors and collisions significantly alter force control precision. To address these challenges, this study proposes an adaptive admittance control framework with dual tuning mechanisms: (1) the damping parameters are optimized through reference trajectory adaptation, and (2) the stiffness parameters are regulated using a proportional-derivative (PD) control law. This approach effectively mitigates the combined effects of parameter variations, hand instability, and collision disturbances, while preventing excessive interaction forces between surgical hooks and delicate tissues. Experimental results demonstrate that the proposed method enhances the accuracy of force control and increases operational safety margins.