Precision Force Tracking Control of a Surgical Device Interacting With a Deformable Membrane

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Precision Force Tracking Control of a Surgical Device Interacting With a Deformable Membrane
Title:
Precision Force Tracking Control of a Surgical Device Interacting With a Deformable Membrane
Other Titles:
IEEE/ASME Transactions on Mechatronics
Publication Date:
13 June 2022
Citation:
Feng, Z., Liang, W., Ling, J., Xiao, X., Tan, K. K., & Lee, T. H. (2022). Precision Force Tracking Control of a Surgical Device Interacting With a Deformable Membrane. IEEE/ASME Transactions on Mechatronics, 1–12. https://doi.org/10.1109/tmech.2022.3177792
Abstract:
Well-designed robotic-assisted surgical systems have been widely applied in medical treatments to make surgical operations precise and efficient. For these, precise tracking of the interaction force between the surgical device and affected human tissues is an important aspect to improve the safety and surgery success rate. In this development, an adaptive integral terminal sliding mode force control scheme for a piezoelectric actuator-based ear surgical device is presented to achieve precision force tracking during the interaction with the tympanic membrane that is soft and deformable, an important aspect in the course of such a surgery. Particularly, a force error-based integral terminal sliding manifold is employed to guarantee the finite-time convergence performance. A related adaptive control law is developed and deployed to estimate the controller's parameters and update the switching gain to accommodate system uncertainties, disturbances, and the complex contact environment. Then, the stability of the proposed control method is analyzed and discussed rigorously based upon the Lyapunov theory and method. Furthermore and rather importantly, comparative experiments with three other force controllers are conducted for both S-curve and sine waves with different frequencies. The force tracking results interacting with the deformable membrane demonstrate that the best performance is achieved by the proposed method with all the statistical errors within a suitably effective range of 2.5% and 9.0% of the maximum amplitude.
License type:
Publisher Copyright
Funding Info:
This research / project is supported by the A*STAR - Career Development Fund
Grant Reference no. : C210812049

Natural Science Foundation of China (Grant No.: 51375349), and National Science Foundation of Jiangsu Province of China (Grant No.: BK20210294)
Description:
© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
ISSN:
1941-014X
1083-4435
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