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

Fang Huang¹, Hongqiang Sang^1,2, Fen Liu¹

¹School of Mechanical Engineering, Tiangong University, Tianjin, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|March 13, 2025

Summary

This summary is machine-generated.

This study introduces a novel sensorless force safety mechanism for surgical robots, enhancing safety in minimally invasive procedures. The developed controller effectively manages forces, reducing risks associated with robotic surgery.

Keywords:

indirect fuzzy control online force simulation controller robot‐assisted minimally invasive surgery sensorless transparency optimised

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Area of Science:

Robotics
Surgical Technology
Control Systems Engineering

Background:

Robotic-assisted minimally invasive surgery (RMIS) currently lacks the inherent force sensing capabilities of traditional open surgery.
This limitation poses a challenge for ensuring patient safety during complex robotic procedures.

Purpose of the Study:

To propose a sensorless transparency-optimized force safety mechanism to enhance external force safety in surgical robots.
To develop advanced control strategies for approximating uncertainties and managing forces in robotic surgery.

Main Methods:

Introduction of a sensorless transparency-optimized force safety mechanism.
Design of an improved fixed-time indirect adaptive fuzzy controller to handle unknown dynamics.
Implementation of an online force simulation controller based on hierarchical force principles.

Main Results:

The fixed-time indirect adaptive fuzzy controller demonstrated superior performance in trajectory tracking, convergence, and control input smoothness.
The online force simulation controller successfully reduced forces in potentially unsafe areas, mitigating risks.
Simulations and experiments validated the effectiveness of the proposed control strategies.

Conclusions:

The developed sensorless force safety mechanism shows significant potential for improving the safety of external forces in robotic surgery.
This advancement contributes to safer and more reliable sensorless surgical robot applications.