An operating smooth man-machine collaboration method for cataract capsulorhexis using virtual fixture

doi:10.1016/j.future.2019.01.032

	An operating smooth man-machine collaboration method for cataract capsulorhexis using virtual fixture
	Liu, Weipeng 1; Su, Yaoguang 1,2; Wu, Wanqing 3,4; Xin, Chen 5,6; Hou, Zeng-Guang2,7 ; Bian, Gui-Bin7
发表期刊	FUTURE GENERATION COMPUTER SYSTEMS-THE INTERNATIONAL JOURNAL OF ESCIENCE
ISSN	0167-739X
	2019-09-01
卷号	98 页码:522-529
通讯作者	Bian, Gui-Bin(guibin.bian@ia.ac.cn)
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.
关键词	Continuous circular capsulorhexis Force feedback Haptic device Man-machine collaboration Virtual fixture
DOI	10.1016/j.future.2019.01.032
收录类别	SCI
语种	英语
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] ; National Key Research and Development Program of China[2017YFB1302704] ; National Natural Science Foundation of China[U1713220] ; National Natural Science Foundation of China[61611130217]
项目资助者	National Key Research and Development Program of China ; National Natural Science Foundation of China
WOS研究方向	Computer Science
WOS类目	Computer Science, Theory & Methods
WOS记录号	WOS:000503818800050
出版者	ELSEVIER
七大方向——子方向分类	多模态智能
引用统计	被引频次：4[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/29436
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Bian, Gui-Bin
作者单位	1.Hebei Univ Technol, Dept Control Sci & Engn, Tianjin, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 3.CAS Key Lab Human Machine Intelligence Synergy Sy, Shenzhen 518055, Guangdong, Peoples R China 4.Chinese Acad Sci, Shenzhen Inst Adv Technol, Shenzhen 518055, Guangdong, Peoples R China 5.Capital Med Univ, Beijing Tongren Hosp, Beijing Tongren Eye Ctr, Beijing Inst Ophthalmol, Beijing, Peoples R China 6.Beijing Ophthalmol & Visual Sci Key Lab, Beijing, Peoples R China 7.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
通讯作者单位	中国科学院自动化研究所
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.