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

Minsik Hong, Jerzy W Rozenblit

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 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 languageEnglish (US)
Title of host publication2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2230-2235
Number of pages6
ISBN (Electronic)9781509018970
DOIs
StatePublished - Feb 6 2017
Event2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary
Duration: Oct 9 2016Oct 12 2016

Other

Other2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
CountryHungary
CityBudapest
Period10/9/1610/12/16

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

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