Impedance-Based Control in Robot-Assisted Surgery via Harris Hawks Optimization-Based Fuzzy Logic Controller

Abstract

For robots in surgical operations, motion accuracy, compliance, and control smoothness are crucial for enhancing the safety of human-robot interaction. This paper presents a bidirectional impedance controller that allows for tissue surgery with robot assistance. To achieve this, two desired impedance models are created and implemented for master and slave robots that interface with the tissue and the surgeon. PID and Harris Hawks Optimization-based Fuzzy Logic Control (HHO-based FLC) controllers are proposed to track the corresponding desired impedance responses of the master and slave robots in Cartesian space. Experimental results show that the suggested HHO-based FLC compensates for impulse motion and provides a smooth force feedback to the surgeon. The obtained experimental results are presented graphically and discussed. © 2025 IEEE.