TY - GEN
T1 - Fuzzy based velocity constraints of virtual fixtures in tele-robotic surgery
AU - Fu, Yili
AU - Yin, Huasong
AU - Pan, Bo
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - Velocity control is one of important manipulate methods in terms of tele-operation applications, especially in minimally invasive robotic surgery. The input of the user (doctor) is always with the highest hierarchy in the control loop, however the poor force feedback and limited visual cues may cause inappropriate decision-making. In this paper, a virtual constraint of velocity based on fuzzy logic is presented, by which more proper factors are taken into concern. Firstly, a basic model is generated to demonstrate a general scene of robotic surgery. Then, several factors that may influence the quality and safety of a surgery are identified. After that, a new fuzzy logic rule is created and the outputs of the system provide a virtual constraint to the user in order to prevent penetrations and misoperations. Experimental results show that the proposed virtual velocity constraint is able to accurately limit dangerous operations of the user and protect organs of patients.
AB - Velocity control is one of important manipulate methods in terms of tele-operation applications, especially in minimally invasive robotic surgery. The input of the user (doctor) is always with the highest hierarchy in the control loop, however the poor force feedback and limited visual cues may cause inappropriate decision-making. In this paper, a virtual constraint of velocity based on fuzzy logic is presented, by which more proper factors are taken into concern. Firstly, a basic model is generated to demonstrate a general scene of robotic surgery. Then, several factors that may influence the quality and safety of a surgery are identified. After that, a new fuzzy logic rule is created and the outputs of the system provide a virtual constraint to the user in order to prevent penetrations and misoperations. Experimental results show that the proposed virtual velocity constraint is able to accurately limit dangerous operations of the user and protect organs of patients.
UR - https://www.scopus.com/pages/publications/84949928892
U2 - 10.1109/ROBIO.2014.7090738
DO - 10.1109/ROBIO.2014.7090738
M3 - 会议稿件
AN - SCOPUS:84949928892
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 2625
EP - 2630
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -