Time delay compensation by fuzzy control in the case of master-slave telesurgery

Radu Emil Precup, Levente Kovacs, Tamas Haidegger, Stefan Preitl, Adalbert Kovacs, Balazs Benyo, Endre Borbely, Zoltan Benyo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

Telesurgery means the remote application of interventional medical techniques; a concept that is currently widely practiced around the world for short distance through master-slave robot systems. The concept has the potential to service long distance telesurgery as well. However, this requires the effective handling of communication latency. The current paper suggests a fuzzy control solution for telesurgical applications aiming at the alleviation of the disturbing effects of large latencies with the concept of remote surgical robotics. The fuzzy control solution is supported by a cascade control system structure with two proportional-integral-derivative (PID) controllers in the inner and outer control loops and designed by Kessler's Extended Symmetrical Optimum empirical criteria. The PID controller in the outer loop is next replaced by Takagi-Sugeno-Kong PID-fuzzy controllers which combine several separately designed PID controllers. The combination of separately designed PID controllers and the modal equivalence principle are expressed as a design and tuning method of the Tagaki-Sugeno-Kong PID-fuzzy controllers.

Original languageEnglish
Title of host publicationSACI 2011 - 6th IEEE International Symposium on Applied Computational Intelligence and Informatics, Proceedings
Pages305-310
Number of pages6
DOIs
Publication statusPublished - Jul 11 2011
Event6th IEEE International Symposium on Applied Computational Intelligence and Informatics, SACI 2011 - Timisoara, Romania
Duration: May 19 2011May 21 2011

Publication series

NameSACI 2011 - 6th IEEE International Symposium on Applied Computational Intelligence and Informatics, Proceedings

Conference

Conference6th IEEE International Symposium on Applied Computational Intelligence and Informatics, SACI 2011
CountryRomania
CityTimisoara
Period5/19/115/21/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Information Systems

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  • Cite this

    Precup, R. E., Kovacs, L., Haidegger, T., Preitl, S., Kovacs, A., Benyo, B., Borbely, E., & Benyo, Z. (2011). Time delay compensation by fuzzy control in the case of master-slave telesurgery. In SACI 2011 - 6th IEEE International Symposium on Applied Computational Intelligence and Informatics, Proceedings (pp. 305-310). [5873019] (SACI 2011 - 6th IEEE International Symposium on Applied Computational Intelligence and Informatics, Proceedings). https://doi.org/10.1109/SACI.2011.5873019