Sensorless Transparency Optimised Force Safety Guarantee Mechanism for Robot‐Assisted Minimally Invasive Surgery

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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.
Funding Information
  • National Natural Science Foundation of China (51975409)

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