Design and validation of real time neuro fuzzy controller for haptic scissors

This paper presents construction of haptic scissors that can be used for surgical training, using the MATLAB-Simulink Real-Time Workshop environment and SolidWorks software. In this instrument we have force feedback in every position and angle of the scissors. The data which was already gathered in [1,2] for different tissues were used here. However, the previous simulations lack flexibility because only the exact information obtained during data acquisition are used. In this paper the data has been made smoother by using Neuro Fuzzy Controller. Design of a neuro fuzzy controller is considered in this work because of its insensitivity to disturbances and uncertainties of model parameters. The design and optimization process of neuro fuzzy controller is based on an extended learning technique derived from adaptive neuro fuzzy inference system (ANFIS), and implementation of this haptic scissors control system had been realized under MATLAB/SIMULINK environment. The experimental results demonstrates the efficiency of this design procedure.