Nonlinear adaptive control for teleoperation systems transitioning between soft and hard tissues

Teleoperation systems in the medical usage, allows a surgeon to perform a remote distance operation with or without magnification. There is an increasing need to provide telerobots with the ability to interact with unknown and hybrid environments to detect the abnormalities and also performing the diagnostic procedures. In such environments it is challenging to guarantee the whole system stability. In this research, a nonlinear adaptive control for one degree of freedom endoscopic teleoperation system has been proposed. The force and position controllers are designed for both master and slave sides. Lyapunov theory has been used to guarantee stability and performance of the system, in presence of unknown environmental stiffness. Numerical simulations are presented on teleoperation system to demonstrate the effectiveness of the proposed scheme.