A haptic guidance system for Computer-Assisted Surgical Training using virtual fixtures

Minsik Hong; Jerzy W Rozenblit

doi:10.1109/SMC.2016.7844570

A haptic guidance system for Computer-Assisted Surgical Training using virtual fixtures

Minsik Hong, Jerzy W Rozenblit

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Scopus citations

Abstract

A simple and robust fuzzy logic controller with a forbidden region virtual fixture is proposed for a haptic guidance system developed to assist in simulation-based training of laparoscopic surgery. A surgical training system that involves human in the control loop is discussed. It uses a controller which adjusts control outputs for different trainees based on their skill level. The system involves virtual fixtures to improve human manipulation tasks inherent in this problem domain. The proposed controller cooperates with a heuristic-based scaling factor modifier to make such adjustments. The experimental results illustrate the feasibility and effectiveness of the proposed haptic guidance system.

Original language	English (US)
Title of host publication	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2230-2235
Number of pages	6
ISBN (Electronic)	9781509018970
DOIs	https://doi.org/10.1109/SMC.2016.7844570
State	Published - Feb 6 2017
Event	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary Duration: Oct 9 2016 → Oct 12 2016

Other

Other	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
Country	Hungary
City	Budapest
Period	10/9/16 → 10/12/16

Fingerprint

Keywords

Fuzzy Logic Controller
Haptic Guidance
Laparoscopy
Surgical Training
Virtual fixtures

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Artificial Intelligence
Control and Optimization
Human-Computer Interaction

Cite this

Hong, M., & Rozenblit, J. W. (2017). A haptic guidance system for Computer-Assisted Surgical Training using virtual fixtures. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings (pp. 2230-2235). [7844570] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2016.7844570

A haptic guidance system for Computer-Assisted Surgical Training using virtual fixtures. / Hong, Minsik; Rozenblit, Jerzy W.

2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2230-2235 7844570.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hong, M & Rozenblit, JW 2017, A haptic guidance system for Computer-Assisted Surgical Training using virtual fixtures. in 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings., 7844570, Institute of Electrical and Electronics Engineers Inc., pp. 2230-2235, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016, Budapest, Hungary, 10/9/16. https://doi.org/10.1109/SMC.2016.7844570

@inproceedings{a71e11bdd9f2447f9194c5649de817e5,

title = "A haptic guidance system for Computer-Assisted Surgical Training using virtual fixtures",

abstract = "A simple and robust fuzzy logic controller with a forbidden region virtual fixture is proposed for a haptic guidance system developed to assist in simulation-based training of laparoscopic surgery. A surgical training system that involves human in the control loop is discussed. It uses a controller which adjusts control outputs for different trainees based on their skill level. The system involves virtual fixtures to improve human manipulation tasks inherent in this problem domain. The proposed controller cooperates with a heuristic-based scaling factor modifier to make such adjustments. The experimental results illustrate the feasibility and effectiveness of the proposed haptic guidance system.",

keywords = "Fuzzy Logic Controller, Haptic Guidance, Laparoscopy, Surgical Training, Virtual fixtures",

author = "Minsik Hong and Rozenblit, {Jerzy W}",

year = "2017",

month = feb,

day = "6",

doi = "10.1109/SMC.2016.7844570",

language = "English (US)",

pages = "2230--2235",

booktitle = "2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 ; Conference date: 09-10-2016 Through 12-10-2016",

}

TY - GEN

T1 - A haptic guidance system for Computer-Assisted Surgical Training using virtual fixtures

AU - Hong, Minsik

AU - Rozenblit, Jerzy W

PY - 2017/2/6

Y1 - 2017/2/6

N2 - A simple and robust fuzzy logic controller with a forbidden region virtual fixture is proposed for a haptic guidance system developed to assist in simulation-based training of laparoscopic surgery. A surgical training system that involves human in the control loop is discussed. It uses a controller which adjusts control outputs for different trainees based on their skill level. The system involves virtual fixtures to improve human manipulation tasks inherent in this problem domain. The proposed controller cooperates with a heuristic-based scaling factor modifier to make such adjustments. The experimental results illustrate the feasibility and effectiveness of the proposed haptic guidance system.

AB - A simple and robust fuzzy logic controller with a forbidden region virtual fixture is proposed for a haptic guidance system developed to assist in simulation-based training of laparoscopic surgery. A surgical training system that involves human in the control loop is discussed. It uses a controller which adjusts control outputs for different trainees based on their skill level. The system involves virtual fixtures to improve human manipulation tasks inherent in this problem domain. The proposed controller cooperates with a heuristic-based scaling factor modifier to make such adjustments. The experimental results illustrate the feasibility and effectiveness of the proposed haptic guidance system.

KW - Fuzzy Logic Controller

KW - Haptic Guidance

KW - Laparoscopy

KW - Surgical Training

KW - Virtual fixtures

UR - http://www.scopus.com/inward/record.url?scp=85015763344&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85015763344&partnerID=8YFLogxK

U2 - 10.1109/SMC.2016.7844570

DO - 10.1109/SMC.2016.7844570

M3 - Conference contribution

AN - SCOPUS:85015763344

SP - 2230

EP - 2235

BT - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016

Y2 - 9 October 2016 through 12 October 2016

ER -

Access to Document

10.1109/SMC.2016.7844570