报告题目：Motion Control of Surgical Robotics Systems
报告专家：Hamid Reza Karimi
Biography：Hamid Reza Karimi is currently Professor of Applied Mechanics with the Department of Mechanical Engineering, Politecnico di Milano, Milan, Italy. From 2009-2016, he has been Full Professor of Mechatronics-Control Systems at University of Agder, Norway. His current research interests include control systems and mechatronics with applications to automotive control systems, vibration systems and wind energy.
Prof. Karimi is currently the Editor-in-Chief of the Journal of Cyber-Physical Systems, Editor-in-Chief of the Journal of Machines, Editor-in-Chief of the International Journal of Aerospace System Science and Engineering, Editor-in-Chief of the Journal of Designs, Section Editor-in-Chief of the IET Journal of Electronics Letters, Section Editor-in-Chief of the Journal of Electronics, Section Editor-in-Chief of the Journal of Science Progress, Subject Editor for Journal of The Franklin Institute and a Technical Editor, Moderator for IEEE TechRxiv or Associate Editor for some international journals, for instance, the IEEE Transactions on Fuzzy Systems, the IEEE Transactions on Neural Networks and Learning Systems, the IEEE Transactions on Circuits and Systems-I: Regular Papers, the IEEE/ASME Transactions on Mechatronics, the IEEE Transactions on Systems, Man and Cybernetics: Systems, IEEE Systems Journal, Information Sciences, IFAC-Mechatronics, International Journal of Robust and Nonlinear Control. He is a member of Agder Academy of Science and Letters and also a member of the IEEE Technical Committee on Systems with Uncertainty, the Committee on Industrial Cyber-Physical Systems, the IFAC Technical Committee on Mechatronic Systems, the Committee on Robust Control, and the Committee on Automotive Control. Prof. Karimi has been awarded as the 2016-2020 Web of Science Highly Cited Researcher in Engineering and also received the 2020 IEEE Transactions on Circuits and Systems Guillemin-Cauer Best Paper Award.
Abstract: To improve the quality of life, utilization of commercial industrial robots have been successfully adopted and further developed in precise automation processes for a variety of applications, especially robotic assisted systems in surgery operation. In general, a robotic surgery implementation is at the need of a well-developed control technology and precision of the surgical tools. Hence, from both theoretical and practical aspects the problem of surgical robotics control is a challenging topic. The objective of this talk is to present some challenges and recent results on both classical and intelligent control of redundant surgical robot manipulators. Specifically, learning algorithms and optimization techniques under remote center of motion constraints are presented and then followed by model development for the surgical operation. The talk will be concluded with some concluding remarks on both technical and practical aspects of control schemes for surgical robotic systems.