Abstract
To estimate the actual reaction force of a surgical instrument-tip in minimally invasive surgery (MIS), this paper proposes a method to separate the uncertain and nonlinear dynamic effects by adding fuzzy logic in sliding mode control with sliding perturbation observer (SMCSPO) algorithm. To evaluate the validity of the proposed method, a 3 DOF robot, which carries the surgical instrument, was formed. The simulation and experimental results showed that the proposed method can isolate the disturbance effects and therefore, the estimated perturbation is closer to the actual reaction force compared to the estimation of the classical sliding perturbation observer (SPO).
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