Abstract: A master-slave telerobotic surgery system has been developed in Human Machine Systems Lab at MIT. This system is composed of a master-slave telerobotic system, a two-way video/audio transmission link, a control data link, and a laparoscopic surgery simulation platform. With video, audio and force feedback, a surgeon can conduct telelaparoscopic surgery for a remote 'patient' by means of the master-slave telerobotic system. However, the force feedback can go unstable when the communication time delay of the control data link is larger than roughly 0.2 seconds. Therefore designing a stable force feedback control becomes an important issue for a telerobotic surgery system. This paper proposes a new approach to achieve stable force reflecting teleoperation control under time delay - fuzzy sliding control (FSC). FSC is based on the conventional fuzzy control and sliding mode control both of which have been proven robust and stable. The design methodology of FSC includes the following major parts: a fuzzy sliding control law, rule tuning in the phase plane, and soft boundary layer tuning. FSC can easily be modified and applied to deal with the uncertainties and human interactions in teleoperation. In our research, a novel control structure which consists of FSC and a fuzzy supervisor has been implemented in our high bandwidth master-slave telerobotic system. It has been shown that this approach has stable force reflection and good tracking accuracy for loop delays up to 2 seconds. Experiment results are described in the paper. !30
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