Microscale Precision Control of a Computer-Assisted Transoral Laser Microsurgery System
Abstract
In a recent advance in surgery, a computer-assisted laser microsurgery system has demonstrated its suitability for transoral operations. Thanks to its motorized micromanipulator setup, surgeons can perform delicate operations on lesions in the larynx using an intuitive user interface. The major hurdle to ensure surgical quality is to guarantee μm-scale precision in the control of the laser beam (spot diameter 110-250 μm), because the mechanism includes inherent discontinuous nonlinearities such as Coulomb friction and stiction and unavoidable modeling uncertainties. To this end, in this article, a precise position controller directly creating a voltage command is newly proposed by amalgamating two robust control concepts-a generalized super-twisting algorithm (GSTA) and a modelfree compensation method called time-delay estimation (TDE). Fast convergence in finite time is proved in the Lyapunov sense. The experimental results verify that the proposed controller can satisfy the precision requirement of 55 μm, while the efficacy is validated by comparisons with respective GSTAand TDE-based controllers. As a practical performance-safety guideline for users, we benchmark the tracking precision of the proposed controller with respect to operation speeds.
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The TDE error is bounded if a TDE-based controller is employed.
“In [36]-[40], [44], and [45], the TDE error is verified to be bounded if a TDE-based controller is employed.”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [45]
A sampling period of 0.001 s is commonly used in robotic systems.
“In our experiments, 0.001 s is used because of the setting of our experimental system, which is also commonly used in robotic systems, such as [9], [39]-[42], [45], and [53].”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [45]
For a sufficiently small sampling period, r1 and r2 are bounded, i.e., there exist r1_bar, r2_bar > 0 such that |r1| <= r1_bar and |r2| <= r2_bar.
“For a sufficiently small sampling period, r 1 and r 2 are all bounded, i.e., there exist r 1, r 2 ∈ R > 0 such that r 1 ≤ r 1 and r 2 ≤ r 2 [45].”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [45]
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Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
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- Authors
- Lee, J., Deshpande, N., Caldwell, D. G., & Mattos, L. S.
- Affiliations
- Italian Institute of Technology (IT)
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2020-04
- Volume
- 25
- Issue
- 2
- Pages
- 604-615
- ISSN
- 1083-4435 (ISSN-L)
- 1941-014X
- OpenAlex
- W3005865645
- Cited by
- 26
- References
- 37
- Citations by year
- 2026: 2 · 2025: 1 · 2024: 7 · 2023: 3 · 2022: 4 · 2021: 5 · 2020: 4
- FWCI
- 1.98
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE/ASME Transactions on Mechatronics (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Piezoelectric Actuators and Control
- Physical Sciences › Engineering › Aerospace Engineering › Advanced Control and Stabilization in Aerospace Systems
- Keywords
- transoral laser microsurgery, micromanipulator, time delay estimation, Coulomb friction, static friction, robust control, Lyapunov stability, finite-time convergence, laryngeal lesions, tracking precision
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