Output-Bounded and RBFNN-Based Position Tracking and Adaptive Force Control for Security Tele-Surgery

• DOI: 10.1145/3394920
• Publication Date: 2020-07-07T12:38:12Z
• Authors: Ting Wang; Xiangjun Ji; Aiguo Song; Kurosh Madani; Amine Chohra; Huimin Lu; Ramon Monero
• Keywords: Work space; Position (finance); Vulnerability

In security e-health brain neurosurgery, one of the important processes is to move electrocoagulation appropriate position in order excavate diseased tissue. 1 However, it has been problematic for surgeons freely operate electrocoagulation, as workspace very narrow brain. Due precision, vulnerability, and function tissues, essential ensure precision safety tissues surrounding part. The present study proposes use a robot-assisted tele-surgery system accomplish process. With aim achieve accuracy, an output-bounded RBF neural network–based bilateral control method was designed guarantee stability accuracy operation For purpose accomplishing minimal amount bleeding damage, adaptive force slave manipulator proposed, allowing be contact susceptible vessels, nerves, tissues. analyzed, numerical simulation results revealed high performance proposed controls.