Applications Of Observers In Medical Robotics

This paper presents the applications of observers in robot-assisted medical procedures, in which robotic manipulators act in collaboration with surgeons or therapists to improve the efficiency and accuracy of the interventions and to reduce the pain, discomfort and recovery times. In order to improve the performance and guarantee the safety of the procedures, the surgeon and/or the robots should be provided by information about the tissue, tool and their interaction. Observers can be considered as replacements for sensors to provide such information or can be used in situations where sensors are not applicable. However, an efficient observer requires a good model for the system. The stability and performance of the observers should also be guaranteed to ensure the safety and the efficiency of the methods. However, the application-driven nature of the medical robotics provides a thriving field of study.