Force feedback time prediction based on neural network of MIS Robot with time delay

摘要

Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In manual MIS, the surgeon is separated from the operation area, which is reached by long instruments. In image-guided procedures, image prediction technique based on visual reality technology has solved time-delay problem of image information between master and slave manipulator of teleoperation system effectively in many application fields. However, time-delay of force feedback information which is transmitted from communication link is also inconvenient to the operator's working and makes a bad influences on the system's stability and transparency. In this paper, the start and stop time of feedback force torque can be predicted by using RBF neural network technology when the slave manipulator is interacting with the environment, such that the force feedback information can synchronize with the predictive image. Simulation results show excellence of the proposed scheme.