Delayed teleoperated robotic eye surgical system; controller design and real-time experiments

A suitable control system is a key challenge in robotic eye surgery. This paper presents a novel control system to address the selected scenario of procedures in robotic eye surgery. A teleoperated eye surgical system may have a time delay in sending and receiving data from two general master and slave parts. In this case, the system is called delayed teleoperated robotic eye surgical system. A novel observer-based controller has been designed in this paper to control the delayed teleoperated robotic eye surgical system, considering all the possible control problems during robotic eye surgery. The real-time experimental results show the power of the designed control system which considers the required conditions for robotic eye surgery and presents results that mimic the real application by defining two scenarios.