Abstract
Continuum robots represent a class of highly sensitive, multiple-degrees-of-freedom robots that are biologically inspired. Because of their flexibility and accuracy, these robots can be used in maxillary sinus surgery. The design of an effective procedure with high accuracy, reliability, robust fault diagnosis, and fault-tolerant control for a surgical robot for the sinus is necessary to maintain the high performance and safety necessary for surgery on the maxillary sinus. Thus, a robust adaptive hybrid observation method using an adaptive, fuzzy auto regressive with exogenous input (ARX) Laguerre Takagi–Sugeno (T–S) fuzzy robust feedback linearization observer for a surgical robot is presented. To address the issues of system modeling, the fuzzy ARX-Laguerre technique is represented. In addition, a T–S fuzzy robust feedback linearization observer is applied to a fuzzy ARX-Laguerre to improve the accuracy of fault estimation, reliability, and robustness for the surgical robot in the presence of uncertainties. For fault-tolerant control in the presence of uncertainties and unknown conditions, an adaptive fuzzy observation-based feedback linearization technique is presented. The effectiveness of the proposed algorithm is tested with simulations. Experimental results show that the proposed method reduces the average position error from 35 mm to 2.45 mm in the presence of faults.
Highlights
IntroductionThe maxillary sinus is a conic, hollow space in the bones of the face that connects to the nose
The maxillary sinus is a conic, hollow space in the bones of the face that connects to the nose.It is the largest cavity of air in the body, and its main function is mucus production
The effectiveness of the proposed fuzzy auto regressive with exogenous input (ARX)-Laguerre T–S fuzzy robust feedback linearization observer for fault estimation, detection, and identification was compared to the fuzzy ARX-Laguerre robust feedback linearization observer and fuzzy ARX-Laguerre feedback linearization observer
Summary
The maxillary sinus is a conic, hollow space in the bones of the face that connects to the nose. It is the largest cavity of air in the body, and its main function is mucus production. Infection of a maxillary sinus causes pain and pressure (e.g., headache and toothache). Finding a good method for maxillary sinus surgery is important [3]. These techniques are divided into two main groups: (a) minimally invasive surgery, and (b) a non-invasive surgery technique. The creating an incision in the face, pain, and long recovery time are main challenges of the open sinus surgery.
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