Alleviation of Delay in Tele- Surgical Operations Using Markov Approach-Based Smith Predictor

Abstract

The acceptance of tele-robotics and teleoperations through networked control systems (NCS) is increasing day by day. NCS involves the feedback control loop system wherein the control components such as actuators and sensors are controlled and allowed to share their feedback over real-time network with distributed users spread geographically. The performance and surgical complications majorly depend upon time delay, packet dropout, and jitter induced in the system. The delay of data packet to the receiving side not only causes instability but also affects the performance of the system. In this article, the authors designed and simulated the functionality of a model-based Smith predictive controller. The model and randomized error estimations are employed through Markov approach and Kalman techniques. The simulation results show a delay of 49.926ms from master controller to slave controller and 79.497ms of delay from sensor to controller results to a total delay of 129.423ms. This reduced delay improves the surgical accuracy and eliminates the risk factors to criticality of patient health.