<title>Telerobotic surgery: stable force feedback with time delay</title>

Abstract

A master-slave telerobotic surgery system has been developed in Human Machine Systems Lab. at MIT. This system is composed of a master-slave telerobotic system, a two-way video/audio transmission link, a control data un/c and a laparscopic surgery simulation platform. With video, audio andforcefeedback a surgeon can conduct telelaparoscopic surgery for a remote 'patient' by means of the master-slave telerobotic system. However, the force feedback can go unstable when the communication time delay of the control data link is larger than roughly 0.2 seconds. Therefore designing a stable force feedback control becomes an important issue for a telerobotic surgery system.This paperproposes a new approach to achieve stableforce reflecting teleoperation control under time delay Fuzzy Sliding Control (FSC). FSC is based on the conventional fuzzy control and sliding mode control both of which have been proven robust and stable. The design methodology of FSC includes the following major parts: a fuzzy sliding control law, rule tuning in the phase plane, and soft boundary layer tuning. FSC can easily be modfled and applied to deal with the uncertainties and human interactions in teleoperation. In our research, a novel control structure which consists of FSC and a frzzy super'isor has been implemented in our high bandwidth master-slave telerobotic system. It has been shown that this approach has stableforce reflection and good tracking accuracy for loop delays up to 2 seconds. Experiment results are described in the paper.

<title>Reusable framework for Web-based teleoperation</title>

“…The HMSL system uses a master-slave robot configuration with a combination of fuzzy control and slide mode control called Fuzzy Sliding Control to deal with the latency issues. 9 Deep sea exploration poses problems not seen in either the Sojourner or HMSL systems. Recent exploration of the Titanic, 2.5 miles below the surface of the Atlantic, involved robotic devices in addition to a small manned submersible.4 The Magellan rover was linked directly to the surface vessels via a fiber optic cable enabling its surface-based pilots to make real-time adjustments as it maneuvered inside the hull of the Titanic.…”