Introduction

The paper presents a novel approach to enhancing precision in robotic eye surgery, specifically focusing on controlling the applied force and estimating cornea displacement through a gripper surgical instrument. The authors, Ali Soltani Sharif Abadi, Andrew Ordys, and Barbara Pierscionek, highlight the critical need for accurate force estimation during surgical procedures on the highly sensitive tissues of the human eye. The proposed method emphasises the development of a Fixed-time Observer-based Sliding Mode Control (FOSMC) that integrates a state observer to estimate applied forces while concurrently managing the gripper’s operation on the ocular surface.

Background and Challenges

Robotic eye surgery has transformative potential, promising improved accuracy and outcomes compared to traditional methods. However, the inherent sensitivity of the human eye poses significant challenges, particularly regarding the precision of force application during surgical interventions. The paper emphasizes that excessive force can lead to severe ocular damage, thus necessitating robust control mechanisms that can ensure safety and effectiveness during procedures.

Methodology

The authors introduce a state observer designed to work in conjunction with the FOSMC. This innovative control strategy estimates the applied force by analysing the states of the gripper and employing a dynamic model of the eye to calculate its displacement. The results from this approach were compared to existing finite-time and asymptotic control techniques through simulations that replicate realistic surgical scenarios. The findings indicated that the FOSMC method significantly outperforms the alternatives, demonstrating superior stability and accuracy.

Results and Conclusions

The results of the comparative analysis illustrated that the FOSMC effectively estimates the applied force during robotic eye surgeries, establishing itself as a reliable solution for controlling the gripper surgical instrument. The authors conclude that the proposed control technique not only enhances the precision of force application but also contributes to the overall safety of robotic eye surgery. They underscore the importance of integrating real-time force estimation into surgical robotics to mitigate risks associated with human eye operations.

Future Directions

Looking ahead, the authors suggest that future research could explore more complex models that account for variations in corneal thickness and curvature. This would further refine the control strategies and improve the adaptability of robotic systems in various surgical contexts.

In summary, the paper provides a comprehensive examination of a cutting-edge method for force control in robotic eye surgery, marking a significant advancement in the field of surgical robotics. Through rigorous testing and validation, the authors have laid the groundwork for future innovations that could enhance both the safety and efficacy of eye surgical procedures.

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