Abstract
We present an adaptive force guidance system for laparoscopic surgery skills training. This system consists of self-adjusting fuzzy sliding-mode controllers and switching mode controllers to provide proper force feedback. Using virtual fixtures, the proposed system restricts motions or guides a trainee to navigate a surgical instrument in a 3-D space in a manner that mimics a human instructor who would teach the trainees by holding their hands. The self-adjusting controllers incorporate human factors, such as different force sensitivity and proficiency levels. The proposed system was implemented and evaluated using the computer-assisted surgical trainer (CAST). The effects of the force guidance system are presented based on the experimental test results.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 8019-8031 |
| Number of pages | 13 |
| Journal | IEEE Transactions on Cybernetics |
| Volume | 52 |
| Issue number | 8 |
| DOIs | |
| State | Published - Aug 1 2022 |
Keywords
- Adaptive systems
- assistive technology
- force feedback
- fuzzy control
- sliding-mode control
- surgical training
- virtual fixtures
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Information Systems
- Human-Computer Interaction
- Computer Science Applications
- Electrical and Electronic Engineering