title: A fuzzy neural network sliding mode controller for vibration suppression in robotically assisted minimally invasive surgery.
abstract: BACKGROUND
  It is very important for robotically assisted minimally invasive surgery to achieve a high-precision and smooth motion control. However, the surgical instrument tip will exhibit vibration caused by nonlinear friction and unmodeled dynamics, especially when the surgical robot system is attempting low-speed, fine motion.
  
  
  METHODS
  A fuzzy neural network sliding mode controller (FNNSMC) is proposed to suppress vibration of the surgical robotic system. Nonlinear friction and modeling uncertainties are compensated by a Stribeck model, a radial basis function (RBF) neural network and a fuzzy system, respectively.
  
  
  RESULTS
  Simulations and experiments were performed on a 3 degree-of-freedom (DOF) minimally invasive surgical robot. The results demonstrate that the FNNSMC is effective and can suppress vibrations at the surgical instrument tip.
  
  
  CONCLUSIONS
  The proposed FNNSMC can provide a robust performance and suppress the vibrations at the surgical instrument tip, which can enhance the quality and security of surgical procedures.
authors.affiliation: School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, 300387, China.
authors.forename: Hongqiang
authors.initials: H
authors.lastname: Sang
authors.affiliation: School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, 300387, China.
authors.forename: Chenghao
authors.initials: C
authors.lastname: Yang
authors.affiliation: School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, 300387, China.
authors.forename: Fen
authors.initials: F
authors.lastname: Liu
authors.affiliation: School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, 300387, China.
authors.forename: Jintian
authors.initials: J
authors.lastname: Yun
authors.affiliation: School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, 300387, China.
authors.forename: Guoguang
authors.initials: G
authors.lastname: Jin
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D017143:Fuzzy Logic; D006801:Humans; D019060:Minimally Invasive Surgical Procedures / Q000379:methods*; D008962:Models, Theoretical; D009038:Motion; D016571:Neural Networks, Computer; D019047:Phantoms, Imaging; D015203:Reproducibility of Results; D065287:Robotic Surgical Procedures / Q000379:methods*; D014202:Tremor; D014732:Vibration
keywords: friction compensation; fuzzy neural network sliding mode controller; minimally invasive surgical robot; vibration suppression