Intelligent Control of Surgical Robot for Telesurgery: An Application to Smart Healthcare Systems
Wireless communication network in robotic telesurgery can be a huge advantage to smart healthcare systems that allows the surgeon to perform surgery on remote patients utilizing a surgical robot. It enables the surgical robotic manipulator to replicate the natural hand motions of the surgeon, allowi...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2024-01-01
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| Series: | IET Circuits, Devices and Systems |
| Online Access: | http://dx.doi.org/10.1049/2024/2119507 |
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| _version_ | 1841561510623576064 |
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| author | Shailu Sachan Tanmay Shukla Pankaj Swarnkar Apsara Adhikari |
| author_facet | Shailu Sachan Tanmay Shukla Pankaj Swarnkar Apsara Adhikari |
| author_sort | Shailu Sachan |
| collection | DOAJ |
| description | Wireless communication network in robotic telesurgery can be a huge advantage to smart healthcare systems that allows the surgeon to perform surgery on remote patients utilizing a surgical robot. It enables the surgical robotic manipulator to replicate the natural hand motions of the surgeon, allowing it to carry out operations with greater acuity and dexterity. This paper addresses the development of an intelligent controller to assure the safe functioning of a telesurgical robotic manipulator. The intelligent optimized, adaptive, and learning-based adaptive neuro-fuzzy fractional order sliding mode control (ANFFOSMC) controller is proposed to attain dexterity and acuity of the surgical manipulator for surgical interventions. The proposed controller for telesurgical system exhibits superior accuracy and performance compared to conventional controllers, as evidenced by reduced root mean square error (RMSE), integral squared error (ISE), and integral absolute error (IAE). The performance of the robot is evaluated using performance indices in the occurrence of uncertainties and external disturbances. |
| format | Article |
| id | doaj-art-b5852dd660e14ec39f4c130269626f77 |
| institution | Kabale University |
| issn | 1751-8598 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Circuits, Devices and Systems |
| spelling | doaj-art-b5852dd660e14ec39f4c130269626f772025-01-03T01:33:54ZengWileyIET Circuits, Devices and Systems1751-85982024-01-01202410.1049/2024/2119507Intelligent Control of Surgical Robot for Telesurgery: An Application to Smart Healthcare SystemsShailu Sachan0Tanmay Shukla1Pankaj Swarnkar2Apsara Adhikari3Department of Electrical EngineeringDepartment of Electrical EngineeringDepartment of Electrical EngineeringElectrical EngineeringWireless communication network in robotic telesurgery can be a huge advantage to smart healthcare systems that allows the surgeon to perform surgery on remote patients utilizing a surgical robot. It enables the surgical robotic manipulator to replicate the natural hand motions of the surgeon, allowing it to carry out operations with greater acuity and dexterity. This paper addresses the development of an intelligent controller to assure the safe functioning of a telesurgical robotic manipulator. The intelligent optimized, adaptive, and learning-based adaptive neuro-fuzzy fractional order sliding mode control (ANFFOSMC) controller is proposed to attain dexterity and acuity of the surgical manipulator for surgical interventions. The proposed controller for telesurgical system exhibits superior accuracy and performance compared to conventional controllers, as evidenced by reduced root mean square error (RMSE), integral squared error (ISE), and integral absolute error (IAE). The performance of the robot is evaluated using performance indices in the occurrence of uncertainties and external disturbances.http://dx.doi.org/10.1049/2024/2119507 |
| spellingShingle | Shailu Sachan Tanmay Shukla Pankaj Swarnkar Apsara Adhikari Intelligent Control of Surgical Robot for Telesurgery: An Application to Smart Healthcare Systems IET Circuits, Devices and Systems |
| title | Intelligent Control of Surgical Robot for Telesurgery: An Application to Smart Healthcare Systems |
| title_full | Intelligent Control of Surgical Robot for Telesurgery: An Application to Smart Healthcare Systems |
| title_fullStr | Intelligent Control of Surgical Robot for Telesurgery: An Application to Smart Healthcare Systems |
| title_full_unstemmed | Intelligent Control of Surgical Robot for Telesurgery: An Application to Smart Healthcare Systems |
| title_short | Intelligent Control of Surgical Robot for Telesurgery: An Application to Smart Healthcare Systems |
| title_sort | intelligent control of surgical robot for telesurgery an application to smart healthcare systems |
| url | http://dx.doi.org/10.1049/2024/2119507 |
| work_keys_str_mv | AT shailusachan intelligentcontrolofsurgicalrobotfortelesurgeryanapplicationtosmarthealthcaresystems AT tanmayshukla intelligentcontrolofsurgicalrobotfortelesurgeryanapplicationtosmarthealthcaresystems AT pankajswarnkar intelligentcontrolofsurgicalrobotfortelesurgeryanapplicationtosmarthealthcaresystems AT apsaraadhikari intelligentcontrolofsurgicalrobotfortelesurgeryanapplicationtosmarthealthcaresystems |