Compliance Control of a Pneumatic System with Biological Tissues Load

Surgical assistant robots allow surgeons to finish minimally invasive surgery with higher precision and flexibility. However, the extremely high cost restricts its widespread use. The safety is also a research emphasis. Therefore, in order to reduce the cost and improve the safety of surgical assistant robots, compliance control of pneumatic actuators is studied. Through the study on the biomechanical properties of typical biological tissues, the mathematical model of a pneumatic system with biological tissues load is established. By applying impedance control, the contact force between thoracoscope and biological tissues can be reduced. Experimental results show that impedance controller achieve the control target. Therefore, the safety of surgical assistant robots can be improved.