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    An Adaptive Force Guidance System for Computer-Guided Laparoscopy Training

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    Name:
    An Adaptive Force Guidance System ...
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    2.062Mb
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    Description:
    Final Accepted Manuscript
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    Author
    Hong, Minsik
    Rozenblit, Jerzy W.
    Affiliation
    Department of Electrical and Computer Engineering, University of Arizona
    Department of Surgery, College of Medicine, University of Arizona
    Issue Date
    2021-02-18
    Keywords
    Adaptive systems
    assistive technology
    Electron tubes
    Force
    force feedback
    Force feedback
    fuzzy control
    Instruments
    Navigation
    sliding-mode control
    surgical training
    Task analysis
    Training
    virtual fixtures
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    Metadata
    Show full item record
    Publisher
    Institute of Electrical and Electronics Engineers Inc.
    Citation
    Hong, M., & Rozenblit, J. W. (2021). An Adaptive Force Guidance System for Computer-Guided Laparoscopy Training. IEEE Transactions on Cybernetics.
    Journal
    IEEE Transactions on Cybernetics
    Rights
    © 2021 IEEE.
    Collection Information
    This item from the UA Faculty Publications collection is made available by the University of Arizona with support from the University of Arizona Libraries. If you have questions, please contact us at repository@u.library.arizona.edu.
    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.
    ISSN
    2168-2267
    EISSN
    2168-2275
    DOI
    10.1109/tcyb.2021.3051837
    Version
    Final accepted manuscript
    Sponsors
    National Science Foundation
    ae974a485f413a2113503eed53cd6c53
    10.1109/tcyb.2021.3051837
    Scopus Count
    Collections
    UA Faculty Publications

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