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Article Abstract
Background: Compared with traditional open surgery, robotic-assisted minimally invasive surgery lacks force sensing ability.
Methods: A sensorless transparency optimised force safety mechanism is put forward to improve the external force safety of the surgical robot in this paper. An improved fixed-time indirect adaptive fuzzy controller is proposed to approximate the unknown uncertainties in the dynamics of the patient-side manipulator. An online force simulation controller is designed based on the hierarchical force.
Results: Simulations and experiments demonstrate that the designed fixed-time indirect adaptive fuzzy controller exhibits excellent performance in trajectory tracking, fixed-time convergence, fuzzy approximation, and smooth control input. In addition, the online force simulation controller effectively decreases the force in the potentially unsafe area, thereby inhibiting the unsafe force.
Conclusions: This mechanism offers potential applications to improve the safety of external forces for the sensorless surgical robots.
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| http://dx.doi.org/10.1002/rcs.70060 | DOI Listing |
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