Subscription or Fee Access
Controller Design Solutions for Long Distance Telesurgical Applications
Robotic teleoperation has proved to be an effective way to explore remote areas, access dangerous sites, or to provide telepresence. Currently, research projects are pushing the boundaries to develop methods for meaningful health care support through teleoperated robots. Surgical robotics have already shown the feasibility of radical concepts, such as intercontinental surgery, and it is believed that technology will eventually enable to extend its rage to space exploration missions. One of the key problems to tackle is the degrading effect of signal latency on system performance and stability. In this paper, we present a case study investigating solution for handling large delays during real-time teleoperation of a remote surgical robot. Modeling approaches are discussed, and simplified human and machine representations are derived to accommodate long distance telesurgical applications. We have shown that a cascade control structure relying on empirical design can be effectively used in this scenario. A suitable controller was designed based on the extension of Kessler’s methods in the inner loop, supported by predictive technique in the outer loop. Several tuning methods resulting in proportional-integral-derivative (PID) controllers in the outer loop are analyzed. This paper suggests the use of PID–fuzzy controllers to improve the control system performance. The proposed cascade loop may be a good solution to support future teleoperational missions.
teleoperation, cascade control, time-delay control, surgical robotics.
Disclaimer/Regarding indexing issue:
We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information.