Disturbance Observer-Based Hybrid Control of Displacement and Force in a Medical Tele-Analyzer

This paper presents hybrid control of displacement and force in a Medical Tele- Analyzer by disturbance observer-based controller which is robust to internal and external disturbances; model uncertainty, load, and friction for instances. The developed Medical Tele- Analyzer consists of 2 subsystems; doctor-side subsystem and patient-side subsystem. In the doctor side subsystem, an array of displacement sensor is equipped to detect movement of doctor's hand and fingers. The detected information is transmitted to the patient side to be used in medical analysis. On the other hand, the patient-side subsystem consists of an array of displacement actuators, which is used to follow displacement of doctor's hand and fingers. An array of force sensors is used to detect forces between patient and the equipment. Since displacement control in patient side is coupled with force control in doctor side and vice-versa, design of the controller has to take into account this coupling. Not only using in medical tele- analysis, the proposed system can also be used in any tele-displacement-force controls of industrial processes.