Page 176 - Control Theory in Biomedical Engineering

Medical robotics 161

These levels are categorized as (1) direct control, (2) shared control,
(3) supervised autonomy, and (4) full autonomy. They are discussed accord-
ing to ethics and legality including ensuring patient safety, culpability, and
approval from the FDA prior to marketing in the United States.
In Cianchetti et al. (2018), the authors classify soft medical robotics in
three classes: (1) medical devices including surgery robotic devices and
drug-delivery robotic devices, (2) assistive robotics including wearable
robots and rehabilitation devices, and (3) robots mimicking the human body
including prostheses, artificial organs, and body-part simulators.
In George Thuruthel et al. (2018), the article attempts to classify continuum
robots for medical applications according to their control strategies and
provide an insight into various controllers developed for continuum/soft
robots. The classification schema include (1) controller’s design based on
modeling approaches (model-based controllers, model-free controllers, and
hybrid controllers combining model-based and model-free approaches), (2)
controllers design based on actuators (actuation technologies,actuatorarrange-
ment, actuator shape, actuator number, material), and (3) controllers design
based on feedback loops (operating spaces, required sensors, performances).
In Chikhaoui and Burgner-Kahrs (2018), the authors classified contin-
uum robots for medical applications according to control strategies and
focused on open-loop control, closed-loop control, or the combination
of both.
In Yang et al. (2018), the survey systemically summarizes the state-of-
the-art force control technologies for robot-assisted needle insertion, such
as force modeling, measurement, factors that influence the interaction force,
parameter identification, and force control algorithms.
In Runciman et al. (2019), the authors classify soft robotics in MIS accord-
ing to six criteria: (1) the working principles, (2) materials, (3) manufacturing,
(4) actuation, (5) variable stiffness, and (6) locomotion and sensing methods.
In Gifari et al. (2019), the authors classify soft surgical robots for endo-
scopic applications according to (1) actuation principles, (2) sensing, (3) con-
trol, and (4) stiffness adjustability.
In summary, medical robots can be classified from many viewpoints,
including:
– The application, the targeted anatomy, or technique (Preising et al.,
1991; Dombre, 2003; Dogangil et al., 2010; Cianchetti et al., 2018).
– The robotic scale (Dario et al., 1996).
– The role (Taylor, 1997; Camarillo et al., 2004)
– The structural or mechanical design (Burgner-Kahrs et al., 2015; Taylor
et al., 2016); (Runciman et al., 2019; Gifari et al., 2019).