Parallel force-position control scheme with fuzzy gain tuning for single port laparoscopic surgery

This paper proposes a navigation method for manipulators which handle a surgical instrument or robotic platform introduced through a SILS multiport trocar. This method is based on a parallel position and force control which allow to the manipulator makes movements around the fulcrum point making the minimum force in the patient´s abdomen. In order to avoid the hysteresis effect due to the space between the instrument and the trocar when the instrument is inserted, a fuzzy gain scheduler has been designed. These algorithms have been implemented in a six degrees of freedom manipulator with a force sensor in the end effector. Finally, the experimental results are shown in order to demonstrate how it works in a real environment.