An Adaptive Force Guidance System for Computer-Guided Laparoscopy Training
AffiliationDepartment of Electrical and Computer Engineering, University of Arizona
Department of Surgery, College of Medicine, University of Arizona
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CitationHong, M., & Rozenblit, J. W. (2021). An Adaptive Force Guidance System for Computer-Guided Laparoscopy Training. IEEE Transactions on Cybernetics.
JournalIEEE Transactions on Cybernetics
Rights© 2021 IEEE.
Collection InformationThis 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 email@example.com.
AbstractWe 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.
VersionFinal accepted manuscript
SponsorsNational Science Foundation