An Adaptive Force Guidance System for Computer-Guided Laparoscopy Training

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 trai...

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Bibliographic Details
Published inIEEE transactions on cybernetics Vol. 52; no. 8; pp. 8019 - 8031
Main Authors Hong, Minsik, Rozenblit, Jerzy W.
Format Journal Article
LanguageEnglish
Published United States IEEE 01.08.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive systems
assistive technology
Controllers
Electron tubes
Fixtures
Force
Force feedback
Fuzzy control
Guidance systems
Human factors
Instruments
Navigation
Sliding mode control
Surgical instruments
surgical training
Task analysis
Training
virtual fixtures
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Summary: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.
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ISSN:2168-2267
2168-2275
DOI:10.1109/TCYB.2021.3051837