Organ rupture detection algorithm of surgical robot

Reaction force estimation is the major challenge of surgical robotic procedures. In previous research, sliding mode control with sliding perturbation observer (SMCSPO) is used to estimate the reaction force in the sensor-less system. Moreover, a fuzzy-SPO method is also proposed to separate actual reaction force in presence of dynamic disturbances. However, in both those research, some physical constraints determined the SMCSPO parameters, which play a vital role in the force estimation sensitivity. The force sensitivity of the algorithm is equally important because extra force can cause organ impairment, rupture during surgery. Therefore, in this study, the force resolutions of the SPO and fuzzy-SPO for a robotic model have studied by Matlab simulation and it has seen that fuzzy-SPO performs better than classical SPO.