A General Huber Function Based Compliant Control Method for the Cooperative Puncture Surgery

The positional smoothness and stability of the medical instrument is crucial in a surgery. However, the instrument is subject to disturbance from human muscle biological tremor. In case of puncture surgery, the needle insertion with positional jitters decreases the safety and curative effect of the surgery. In this study, we introduce the general expression of the Huber function which can suppress positional disturbance with low amplitude. Then, we combine the function with the commonly used impedance model to form a compliant control method. This method takes advantages of the Huber function in restraining disturbance and the impedance model in smoothing the robotic motion. Then, we construct a prototype of a puncture system to verify the effectiveness of the proposed control method. Comparative experiments manifest the capacity and feasibility this method.

I. Introduction

Human strong perception and dexterous manipulation significantly contribute to the success of completing complex tasks. The operator's adaptability on interaction promotes the implement of these tasks [1], [2], [3]. The interaction between human and the objects is vital for people to perceive the environment. The human are also adept in dealing with interactive tasks because the flexibility and adaptability of human actions. Whereas, in case of rehabilitation, exoskeleton or model-mediated teleoperation where the stability requirement of human force is emphasized, the defect in lack of stationarity of human action is revealed.