Development of Vibration Suppression Control System for Support Equipment in Surgical Support System

In this study, we construct the control system of the supporting device which assists the operation of the master-slave integrated robot forceps. In order to design the control system, the operation model of the supporting device is made, and the stability of the operation is simulated. An optimum regulator control is designed to suppress vibration assuming the operation environment. The effects on the surgical environment are examined by simulating each vibration in three DOF (degree of freedom) operation.