Design Auxiliary Sliding Variable Sliding Mode Controller for Robot-Assisted Ophthalmic Surgery

Abstract

Recent development of robot technology is revolutionizing the medical field. The concept of using robot assistance in medical surgery has been receiving more and more recognition throughout the world. Robot-assisted surgery has the advantage of reducing surgeons' hand tremor, decreasing post-operative complications, reducing patients' pains, and increasing operation dexterity inside the patients' body. Robotic assistants have been broadly used in many medical fields such as orthopedics, neurology, urology and cardiology, and robot assisted surgery is keeping expanding its influences in more general medical field. Refer to this research, auxiliary sliding variable sliding mode controller is proposed for multi DOF joint with application in surgical robot manipulator. The main problem in this research is design robust chattering free sliding mode controller. The chattering phenomenon problem is reduced in certain/uncertain system by using auxiliary sliding variable. The simulation results exhibit that the sliding mode controller with auxiliary sliding variable works well in certain and uncertain condition.