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Haptic virtual surgery simulation system under field programmable analogue array-based hybrid control

In this paper, a bilateral haptic virtual surgery simulation system under a hybrid controller was studied. An analogue controller realized by a field programmable analogue array (FPAA) was paralleled in the operator robot side, which reduced the impact of controller discretisation on the system. A s...

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Autores principales: Ru, Sun, Yang, Ting, Zhang, Liang, Wang, Lin, Fu, Yili, Tavakoli, Mahdi
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Nature Publishing Group UK 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9300654/
https://www.ncbi.nlm.nih.gov/pubmed/35859050
http://dx.doi.org/10.1038/s41598-022-16655-9
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author Ru, Sun
Yang, Ting
Zhang, Liang
Wang, Lin
Fu, Yili
Tavakoli, Mahdi
author_facet Ru, Sun
Yang, Ting
Zhang, Liang
Wang, Lin
Fu, Yili
Tavakoli, Mahdi
author_sort Ru, Sun
collection PubMed
description In this paper, a bilateral haptic virtual surgery simulation system under a hybrid controller was studied. An analogue controller realized by a field programmable analogue array (FPAA) was paralleled in the operator robot side, which reduced the impact of controller discretisation on the system. A system stability conditions under hybrid control with multiple-operators were deduced. The stability analysis indicates that the addition of analogue derivative term widens the range of haptic controls gains that satisfy the multiple-users’ stability conditions. Finally, the human’s performance of a stiffness discrimination task was studied in an independently developed minimally invasive surgical (MIS) platform. The experiment results show that, human operators under the hybrid controller achieve the highest task success rates.
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spelling pubmed-93006542022-07-22 Haptic virtual surgery simulation system under field programmable analogue array-based hybrid control Ru, Sun Yang, Ting Zhang, Liang Wang, Lin Fu, Yili Tavakoli, Mahdi Sci Rep Article In this paper, a bilateral haptic virtual surgery simulation system under a hybrid controller was studied. An analogue controller realized by a field programmable analogue array (FPAA) was paralleled in the operator robot side, which reduced the impact of controller discretisation on the system. A system stability conditions under hybrid control with multiple-operators were deduced. The stability analysis indicates that the addition of analogue derivative term widens the range of haptic controls gains that satisfy the multiple-users’ stability conditions. Finally, the human’s performance of a stiffness discrimination task was studied in an independently developed minimally invasive surgical (MIS) platform. The experiment results show that, human operators under the hybrid controller achieve the highest task success rates. Nature Publishing Group UK 2022-07-20 /pmc/articles/PMC9300654/ /pubmed/35859050 http://dx.doi.org/10.1038/s41598-022-16655-9 Text en © The Author(s) 2022 https://creativecommons.org/licenses/by/4.0/Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) .
spellingShingle Article
Ru, Sun
Yang, Ting
Zhang, Liang
Wang, Lin
Fu, Yili
Tavakoli, Mahdi
Haptic virtual surgery simulation system under field programmable analogue array-based hybrid control
title Haptic virtual surgery simulation system under field programmable analogue array-based hybrid control
title_full Haptic virtual surgery simulation system under field programmable analogue array-based hybrid control
title_fullStr Haptic virtual surgery simulation system under field programmable analogue array-based hybrid control
title_full_unstemmed Haptic virtual surgery simulation system under field programmable analogue array-based hybrid control
title_short Haptic virtual surgery simulation system under field programmable analogue array-based hybrid control
title_sort haptic virtual surgery simulation system under field programmable analogue array-based hybrid control
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9300654/
https://www.ncbi.nlm.nih.gov/pubmed/35859050
http://dx.doi.org/10.1038/s41598-022-16655-9
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