Stable Hybrid Fuzzy Controller-based Architecture for Robotic Telesurgery Systems

Precup, Radu-Emil and Kovács, Levente and Haidegger, Tamás (2014) Stable Hybrid Fuzzy Controller-based Architecture for Robotic Telesurgery Systems. International Journal of Computational Intelligence and Pattern Recognition, 1 (1). pp. 61-76. ISSN 1469-0268


Download (687kB) | Preview


Robotic surgery and remotely controlled teleoperational systems are on the rise. However, serious limitations arise on both the hardware and software side when traditional modeling and control approaches are taken. These limitations include the incomplete modeling of robot dynamics, tool–tissue interaction, human– machine interfaces and the communication channel. Furthermore, the inherent latency of long-distance signal transmission may endanger the stability of a robot controller. All of these factors contribute to the very limited deployment of real robotic telesurgery. This paper describes a stable hybrid fuzzy controller-based architecture that is capable of handling the basic challenges. The aim is to establish high fidelity telepresence systems for medical applications by easily handled modern control solution.

Item Type: Article
Subjects: T Technology / alkalmazott, műszaki tudományok > TK Electrical engineering. Electronics Nuclear engineering / elektrotechnika, elektronika, atomtechnika
Depositing User: Dr. Tamas Haidegger
Date Deposited: 28 Sep 2015 10:00
Last Modified: 28 Sep 2015 10:00

Actions (login required)

Edit Item Edit Item