Controlling a Teleoperated Robotic Eye Surgical System Under a Communication Channel’s Unknown Time Delay

One of the most critical challenges in Robotic Eye Surgery (RES) is the  applied force of the surgical instrument of the robot as it penetrates  the human eye. Safe surgery requires accurate control of this force. In a  teleoperated eye surgical system, there is likely to be a time delay  that can affect the system control. This paper focuses on designing a  predefined-time Sliding Mode Control (SMC) method to control a  teleoperated robotic eye surgical system under an unknown time delay of  the communication channel. The Lyapunov theory is used to prove the  system stability. For the master and slave parts, manipulator robots are  considered for designing and testing the controller. MATLAB software is  used to simulate the controller. The simulation results show the  robustness of the controller against the time delay of the communication  channel.