Neuro-Adaptive Control of a Master-Slave Robotic System

In this article, a neuro-adaptive based trajectory control for redundant surgical manipulator is designed for the application of natural orifice transluminal endoscopic surgery (NOTES). This system can provide solution to precise positioning of the surgical robot tip that can be deployed for the internal organ inspection, radiosurgery of the gastrointestinal tumor, improvement in the precise placement of radiation source during brachytherapy, etc. This work deals with online in-air 3D trajectory tracking control of 5-degrees of freedom (DOF) redundant surgical manipulator. The neuro-adaptive control has been employed for trajectory tracking in which unknown parameters for the manipulator are estimated using the neuro-adaptive technique. This technique helps in reduction the computational time by reducing the computational complexity involved while estimating the unknown parameters with conventional manipulator dynamic based adaptive control. The comparison results reflects that the proposed technique performs better than the manipulator dynamics based adaptive control in terms of accuracy and reduces the computational complexity during trajectory tracking.