ON THE COMPUTATION AND CONTROL OF A ROBOTIC SURGERY HYBRID SYSTEM

Abstract

The contribution of this paper consists in computation and control of a robotic surgery hybrid system using the differential dynamic logic (dL) algorithm. Hybrid systems contain discrete and continuous motions described by differential equations with discrete and continuous interactions. The discrete motions are instantly changing in the system, and the continuous transitions are subjected to restrictions raised from the discrete motions and control. The hybrid systems integrate three components: the continuous behavior of the first system, the discrete interventions of the second system and the control of the second system directed to the first system. In this paper, dL is applied to compute and control the cooperation between the surgeon and the robot during surgical procedures of the liver tumors.