Operational space robust impedance control of the redundant surgical robot for minimally invasive surgery.

ABSTRACT

The motion accuracy, compliance, and control smoothness for the surgical robot are of great importance to improve the safety of human-robot interaction. However, the end effector that interacts with soft tissue during surgery affects the dynamics of the robot. The control performance of the controller may be decreased if the changing dynamics are not identified and updated in time. This paper proposes a robust impedance controller for the redundant remote center of motion manipulator influenced by external disturbances, including external torque, uncertainties, and unmodeled terms in the dynamics. To achieve the desired impedance, a continuously switching sliding manifold is proposed. When the sliding manifold is driven to zero, the motion error will converge to a bounded region. This can overcome the adverse effects of external disturbances while guaranteeing motion accuracy and compliance. Chattering of the sliding mode control is alleviated through the formulated continuously switching sliding manifold and integrated nonlinear disturbance observer. Simulations and experiments demonstrate that the proposed controller has excellent motion accuracy, compliance, and control smoothness. This provides potential application prospects for the redundant surgical robot to guarantee safe human-robot interaction.