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Actual Reaction Force Separation Method of Surgical Tool by Fuzzy Logic Based SMCSPO

Nahian Rahman and Min Cheol Lee*
International Journal of Control, Automation, and Systems, vol. 13, no. 2, pp.379-389, 2015

Abstract : To estimate the actual reaction force of a surgical instrument-tip in minimally invasive surgery (MIS), this paper proposes a method to separate the uncertain and nonlinear dynamic effects by adding fuzzy logic in sliding mode control with sliding perturbation observer (SMCSPO) algorithm. To evaluate the validity of the proposed method, a 3 DOF robot, which carries the surgical instrument, was formed. The simulation and experimental results showed that the proposed method can isolate the disturbance effects and therefore, the estimated perturbation is closer to the actual reaction force compared to the estimation of the classical sliding perturbation observer (SPO).

Keyword : Fuzzy logic, haptics, reaction force, sliding mode control with sliding perturbation observer, surgical robot.

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