Adaptive sliding mode enhanced disturbance observer-based control of surgical device

Area of Science:

• Robotics and Control Systems
• Medical Device Engineering
• Surgical Technology

Background:

• Otitis Media with Effusion requires precise surgical intervention.
• Semi-automated surgical devices need robust motion control.
• Uncertainties and disturbances challenge existing control systems.

Purpose of the Study:

• To develop an enhanced adaptive robust disturbance observer-based motion tracking control methodology.
• To apply this control approach to a semi-automated hand-held ear surgical device.
• To ensure precise trajectory tracking in the presence of system uncertainties and disturbances.

Main Methods:

• Utilized an adaptive robust disturbance observer-based control.
• Investigated the methodology for a semi-automated hand-held ear surgical device.
• Analyzed control approach stability and theoretically proved convergence of tracking errors.

Main Results:

• Demonstrated precise tracking performance for desired motion trajectories.
• Successfully addressed unknown system parameters, nonlinearities, and disturbances.
• Validated the control approach through experimental studies.

Conclusions:

• The proposed control methodology offers enhanced adaptive robust disturbance observation for motion tracking.
• The system achieves precise tracking performance in challenging surgical conditions.
• This approach is suitable for semi-automated ear surgical devices treating Otitis Media with Effusion.