Controlling a Teleoperated Robotic Eye Surgical System Under a Communication Channel’s Unknown Time Delay

摘要

One of the most critical challenges in Robotic Eye Surgery (RES) is the applied force of the surgical instrument of the robot as it penetrates the human eye. Safe surgery requires accurate control of this force. In a teleoperated eye surgical system, there is likely to be a time delay that can affect the system control. This paper focuses on designing a predefined-time Sliding Mode Control (SMC) method to control a teleoperated robotic eye surgical system under an unknown time delay of the communication channel. The Lyapunov theory is used to prove the system stability. For the master and slave parts, manipulator robots are considered for designing and testing the controller. MATLAB software is used to simulate the controller. The simulation results show the robustness of the controller against the time delay of the communication channel.