Abstract
Research concerning a control method intended for a surgical robot, which prevents the overload of fragile tissues is shown in this paper. In particular, we proposed that the simulation based parameter setting method to ensure the robustness of the performance relative to the variation of the organ stiffness parameter. The simulation and experimental result suggests that our control method helps to prevent stress overload and that the proposed parameter setting method is effective in realizing the robustness relative to the variation of the organ stiffness parameter.
