An operating smooth man-machine collaboration method for cataract capsulorhexis using virtual fixture
文献类型：期刊论文
| 作者 | Liu, Weipeng2; Su, Yaoguang2,3; Wu, Wanqing4,5; Xin, Chen6,7; Hou, Zeng-Guang1,3 ; Bian, Gui-Bin1
|
| 刊名 | FUTURE GENERATION COMPUTER SYSTEMS-THE INTERNATIONAL JOURNAL OF ESCIENCE
 |
| 出版日期 | 2019-09-01 |
| 卷号 | 98页码:522-529 |
| 关键词 | Continuous circular capsulorhexis Force feedback Haptic device Man-machine collaboration Virtual fixture |
| ISSN号 | 0167-739X |
| DOI | 10.1016/j.future.2019.01.032 |
| 通讯作者 | Bian, Gui-Bin(guibin.bian@ia.ac.cn) |
| 英文摘要 | Techniques in ophthalmic surgery require higher precision while cataract capsulorhexis calls for enough operating space. There is no specific methods focusing on improving the safety and flexibility of Capsulorhexis operation in recent study. Traditionally, Guidance Virtual Fixture based on parameter curve failed to be flexible, while Forbidden-Region Virtual Fixture using PD control failed to be steady enough. This paper proposes a teleoperation control scheme using integrated virtual fixture to assist in performing cataract capsulorhexis, improving operation performance in precision and flexibility. Specifically, based on the ring pipe model presented simulating the working path and permitted operating space, the control scheme is combined attractive error-reducing constraints with variety stiffness. It works by providing composite feedback force to the master-side via haptic device and letting the user aware if he on the right path and assist him in correcting operation mistakes. Experimental evaluation of the functionality of the control scheme was tested under four different configurations to verify the effectiveness of each algorithm and the combination. Significantly, the average error of operation reduces from 0.56 mm to 0.33 mm by 41% under the control scheme and reduces from 0.56 mm to 0.11 mm by 80% under the control scheme combined with motion scaling, demonstrating improvement in control by providing accurate assistance to the operator. (C) 2019 Elsevier B.V. All rights reserved. |
| 资助项目 | National Key Research and Development Program of China[2017YFB1302704] ; National Natural Science Foundation of China[U1713220] ; National Natural Science Foundation of China[61611130217] |
| WOS研究方向 | Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000503818800050 |
| 出版者 | ELSEVIER |
| 资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/29435]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Bian, Gui-Bin |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 2.Hebei Univ Technol, Dept Control Sci & Engn, Tianjin, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 4.CAS Key Lab Human Machine Intelligence Synergy Sy, Shenzhen 518055, Guangdong, Peoples R China 5.Chinese Acad Sci, Shenzhen Inst Adv Technol, Shenzhen 518055, Guangdong, Peoples R China 6.Capital Med Univ, Beijing Tongren Hosp, Beijing Tongren Eye Ctr, Beijing Inst Ophthalmol, Beijing, Peoples R China 7.Beijing Ophthalmol & Visual Sci Key Lab, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Weipeng,Su, Yaoguang,Wu, Wanqing,et al. An operating smooth man-machine collaboration method for cataract capsulorhexis using virtual fixture[J]. FUTURE GENERATION COMPUTER SYSTEMS-THE INTERNATIONAL JOURNAL OF ESCIENCE,2019,98:522-529. |
| APA | Liu, Weipeng,Su, Yaoguang,Wu, Wanqing,Xin, Chen,Hou, Zeng-Guang,&Bian, Gui-Bin.(2019).An operating smooth man-machine collaboration method for cataract capsulorhexis using virtual fixture.FUTURE GENERATION COMPUTER SYSTEMS-THE INTERNATIONAL JOURNAL OF ESCIENCE,98,522-529. |
| MLA | Liu, Weipeng,et al."An operating smooth man-machine collaboration method for cataract capsulorhexis using virtual fixture".FUTURE GENERATION COMPUTER SYSTEMS-THE INTERNATIONAL JOURNAL OF ESCIENCE 98(2019):522-529. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。