Robust Adaptive Sliding Mode Control of Virtual Tool-tissue Interaction for Use in Surgery Simulation

Control of haptic systems with complex and unstructured environments like the endonasal sinus region, which is used in surgical simulators, puts fundamental challenges forward. This study proposes a robust adaptive sliding mode control technique for adjusting the impedance of a one-degree-of-freedom Falcon robot to a pre-defined nonlinear impedance that is an approximation of a mathematical model of sino-nasal tissue. First, this control scheme is developed for an arbitrary system with n state variables and then applied to the one-degree-of-freedom robot. The Lyapunov theorem demonstrates stability, tracking convergence, and robustness to parametric and nonparametric modeling uncertainty. To validate the effectiveness of the proposed control design, a simulation study and its results are prepared.