An Adaptive Force Guidance System for Computer-Guided Laparoscopy Training
提出一种自适应力引导系统，通过模糊滑模控制器和虚拟夹具模拟导师手把手教学，帮助学员在三维空间中正确操作手术器械，并考虑个体力敏感度和熟练度差异。
We present an adaptive force guidance system for laparoscopic surgery skills training. This system consists of self-adjusting fuzzy sliding-mode controllers and switching mode controllers to provide proper force feedback. Using virtual fixtures, the proposed system restricts motions or guides a trainee to navigate a surgical instrument in a 3-D space in a manner that mimics a human instructor who would teach the trainees by holding their hands. The self-adjusting controllers incorporate human factors, such as different force sensitivity and proficiency levels. The proposed system was implemented and evaluated using the computer-assisted surgical trainer (CAST). The effects of the force guidance system are presented based on the experimental test results.