Control Of Force In Surgical Robots With Random Time Delays Using Model Predictive Control

Robotic telesurgery has gained a lot of interest in the medical and engineering field with the advancement of technology over in Minimum Invasive Surgery (MIS) that uses small incisions to operate resulting in the faster recovery of the patients. In the commercially available surgical systems, the surgeon cannot feel the sense of touch of the environment, unlike open type surgery. The control becomes harder when the robotic surgery is performed remotely in the presence of time delays. The development of the force feedback will help to reduce the tissue damage and end-effector deflection. The primary goal of this work is to develop the force feedback for the surgical arms affected by the time delays. The random behavior of the network delays makes the control realization even harder and can make the response go unstable. A novel approach is used to develop the haptic feedback for the Minimally Invasive Robotic Systems (MIRS) by using Model Predictive Control (MPC) in case of random communication delays.