Adaptive acceleration-gained control for safe velocity-mode control in teleoperated surgical robots

To mitigate critical tissue-injury risks arising from accumulated velocity-mode errors caused by controller sampling-interval uncertainties in teleoperated surgical robots with unmodeled dynamics, this paper proposes an adaptive control framework. Safe motion control is achieved through two key innovations: (1) Non-singular adaptive acceleration-gained control providing Cartesian acceleration compensation for direct end-effector force regulation, and (2) EKF-based state prediction to actively attenuate uncertainty effects. Rigorous simulations and experimental results validate the framework's efficacy. The proposed method delivers robust transient performance (first peak overshoot < 0.2325 s) and high steady-state accuracy (reducing force error from 1.2741 mN to 0.5460 mN vs. nominal method), while effectively mitigating control input chattering during continuous motion. This approach thus enables high-precision velocity-mode control with enhanced stability and accuracy.