A combined approach for master-slave robotic surgery system control based on Jacobian and PD algorithm

In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative (PD) algorithm is proposed. A digital low-pass filter is designed to eliminate noise signal caused by hand-vibration of surgeons. The advantages of the proposed approach include easy implementation, real-time response and accurate master-slave tracking. The results of semi-physical simulation validated that the proposed approach realized accurate master-slave tracking for puncture surgery and the noise caused by hand-vibration was eliminated effectively.