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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...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Nature Publishing Group UK
2022
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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. |
format | Online Article Text |
id | pubmed-9300654 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | Nature Publishing Group UK |
record_format | MEDLINE/PubMed |
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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