Robust trajectory tracking of Master-Slave surgery robot system based on PD with Integral Sliding Mode Control

Precise and robust position tracking control of surgical robots is essential to perform efficient surgery. Even though a variety of control algorithm has been developed for robust trajectory tracking, but most of them are dependent on the exact modeling of the system to guarantee their accuracy and robustness. Unlike the industry manipulator, surgical robot has inevitable uncertainties from surgical environment such as trocar and wire-cable friction. In this paper, we propose a model-free controller that combines simplicity of PD control and robustness of sliding mode control. The PD-ISMC (Integral Sliding Mode Control) is designed by adding the integral part of the error to sliding surface of the previously proposed PD-SMC and the robust trajectory tracking performance was verified by using the actual surgeon's surgical motion data and implementing master-slave system.