The haptic interaction in virtual surgery based sliding mode control

DOIResolve DOI: http://doi.org/10.1109/CSCWD.2015.7231004
AuthorSearch for: ; Search for: ; Search for: ; Search for:
TypeArticle
Proceedings titleProceedings of the 2015 IEEE 19th International Conference on Computer Supported Cooperative Work in Design, CSCWD 2015
Conference19th IEEE International Conference on Computer Supported Cooperative Work in Design, CSCWD 2015, 6 May 2015 through 8 May 2015
ISBN9781479920020
Article number7231004
Pages467471; # of pages: 5
SubjectAlgorithms; Bone; Convergence of numerical methods; Histology; Interactive computer systems; Sliding mode control; Surgery; Tissue; Virtual reality; Haptic interactions; Human tissues; Lyapunov theories; Nonlinear impedance; Soft tissue; Stable operation; Virtual surgery; Surgical equipment
AbstractWhat operation instruments interact with are human tissues and organs in virtual surgery. Because its impedance is nonlinear and unpredictable, the haptic interaction is difficult to be stable, especially when interacting with rigid tissues such as bone. To solve this difficult problem, this paper presents a sliding mode control algorithm based on Lyapunov theory to realize stable operation for virtual surgery which is never seen in previous research. The simulation results show that 1) the haptic interaction can remain stable when interacting with both soft tissues and large impedance tissues such as bone; 2) the haptic interaction can remain stable even when operation instruments interact with nonlinear impedance tissues.
Publication date
PublisherIEEE
LanguageEnglish
AffiliationNational Research Council Canada; Information and Communication Technologies
Peer reviewedYes
NPARC number21277382
Export citationExport as RIS
Report a correctionReport a correction
Record identifier962a1aed-e240-41cb-9c9d-408b4a5a3b29
Record created2016-03-09
Record modified2016-05-09
Bookmark and share
  • Share this page with Facebook (Opens in a new window)
  • Share this page with Twitter (Opens in a new window)
  • Share this page with Google+ (Opens in a new window)
  • Share this page with Delicious (Opens in a new window)