A Stable Tele-Robotic Neurosurgical System Based on SMC

摘要

A design of a sliding mode controller is given for a tele-robotic neurosurgical system in this paper. The proposed tele-robotic neurosurgical system with force, video, and voice feedback can be tele-operated through the Internet. However, time delay on the Internet may make the proposed system unstable if it is over 0.3s, therefore it is a critical issue to deal with the time delay effect occurring in the proposed system. Based on an uncertain delayed stochastic model of the proposed system, a sliding mode controller was designed to stabilize the proposed system. In addition, both cases with constant and varying time delay are thoroughly considered and exhaustively studied in this paper. The sliding surface was also designed to maximize the calculable set of admissible delays up to 0.7s. Finally, results of simulation prove the feasibility and efficiency of the proposed approach.