Parallel force-position control scheme with fuzzy gain tuning for single port laparoscopic surgery

This paper proposes a navigation method for manipulators which handle a surgical instrument or robotic platform introduced through a SILS multiport trocar. This method is based on a parallel position and force control which allow to the manipulator makes movements around the fulcrum point making the minimum force in the patient's abdomen. In order to avoid the hysteresis effect due to the space between the instrument and the trocar when the instrument is inserted, a fuzzy gain scheduler has been designed. These algorithms have been implemented in a six degrees of freedom manipulator with a force sensor in the end effector. Finally, the experimental results are shown in order to demonstrate how it works in a real environment.