Telerobotic surgery: Fuzzy path planning control for a telerobotic assistant surgery

Abstract

A strategy of path planning with fuzzy logic for a telerobotic assistant surgery is presented in this paper. Telerobotic surgery occurred a long track in its short history. While teleconsultation proceeds to be used today, the advent of high speed communications and increased computational competence is making long distance remote control of operating instruments, called telepresence surgery, a reality. Based on laparoscopic technology, telerobotic surgery was tested first on animals and, more recently, on humans with success. The technology offers several advantages, including improved accuracy and the capability to bring difficult procedures to rural and remote locations where trained surgeons are not available. A dynamic model is computed first for the telerobots using Lagrange formulation. A fuzzy control strategy is used in order to validate the path planning method and the theoretical developments in motion constraints analysis. The paper is ended with a conclusion.