Robust Motion Planning in Robot-Assisted Surgery for Nonlinear Incision Trajectory

In the era of digital OTs (operating theatres), developments in robot-assisted surgery (RAS) can greatly benefit medical field. RAS is a method technological advancement that uses robotic articulations to assist complicated surgeries. Its implementation improves ability specialized doctor perform great extent. The paper addresses dynamics and control highly non-linear 3DOF surgical robot manipulator event external disturbances uncertainties. integration robust SMC (sliding mode control) with smoothing mechanism, FOPID (fractional-order proportional integral derivative) controller, fuzzy controller provides high degree robustness minimal chatter. addition logic named intelligent fuzzy-SFOSMC (smoothing fractional order sliding controller) system’s performance by ruling out prototype model developed laboratory its outcomes are validated on OP5600, real-time simulator. Simulation experimental results proposed compared conventional controllers, which illustrates efficacy superiority controller’s during typical situations. outperforms controllers providing greater precision time-varying nonlinear multi-incision trajectories.