Adaptive Control of a Telerobotic Surgery System Interacting with Non-Passive Soft Tissues

In this paper, stability and control of a bilateral teleopeartion system, interacting with a non-passive soft tissue, for the application of robotic surgeries is considered. Although there are many researches on improving the performance of a teleoperation system, none of them considered an appropriate model for this kind of tissue. First, a new model that indicates major characteristics of a moving soft tissue as the environment of a teleoperation system is presented. The model consists of a viscoelastic passive part and a non-passive part that acts in parallel to the passive part. After that, by considering communication time delays and uncertainties in the master and slave robot dynamics, ultimate bounded-ness of the master and slave trajectories while interacting with this non-passive environment is guaranteed using an adaptive controller. Moreover, some simulations are done to demonstrate the effectiveness of the proposed approach.