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 | |
| 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 |
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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
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
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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.
ER -