The Haptic Interaction in Virtual Surgery based Sliding Mode Control

被引：0
|
作者：
Hu, Lingyan [1 ]
Xiao, Lei [1 ]
Liu, Xiaoping [1 ]
Yang, Chunsheng [2 ]
机构：
[1] Nanchang Univ, Sch Informat Engn, Nanchang, Peoples R China
[2] Natl Res Council Canada, Ottawa, ON, Canada
来源：
PROCEEDINGS OF THE 2015 IEEE 19TH INTERNATIONAL CONFERENCE ON COMPUTER SUPPORTED COOPERATIVE WORK IN DESIGN (CSCWD) | 2015年
关键词：
Haptic interaction; Sliding mode control; Virtual surgery; Stability; INTERFACES; FEEDBACK; DESIGN;
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
What 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.
引用
收藏
页码：467 / 471
页数：5
相关论文
共 50 条
  • [1] Sliding Mode Control of a Pneumatic Haptic Teleoperation System with on/off Solenoid Valves
    Le, M. Q.
    Pham, M. T.
    Tavakoli, M.
    Moreau, R.
    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2011, : 874 - 879
  • [2] Disturbance Observer-Based Control to Guarantee a Sliding Mode Without Sliding Mode Control
    Lee, Keonwoo
    Cha, Jaejun
    Park, Seungkyu
    IEEE ACCESS, 2023, 11 : 95632 - 95638
  • [3] Sliding mode control revisited
    Bahraini, Masoud
    Yazdanpanah, Mohammad Javad
    Vakili, Shokufeh
    Jahed-Motlagh, Mohammad Reza
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2020, 42 (14) : 2698 - 2707
  • [4] Virtual surgery system with realistic visual effects and haptic interaction
    Kugurakova, Vlada
    Khafizov, Murad
    Akhmetsharipov, Ruslan
    Lushnikov, Alexei
    Galimova, Diana
    Abramov, Vitaly
    Correa Madrigal, Omar
    ICAROB 2017: PROCEEDINGS OF THE 2017 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS, 2017, : P86 - P89
  • [5] Robust frequency control based on sliding mode control with LMI in an island microgrid
    Deffo, Boris Arnaud Notchum
    Bakouri, Anass
    INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL, 2024, 12 (11) : 4056 - 4078
  • [6] An educational virtual laboratory for sliding mode and PID control of inverted pendulum
    Demirtas, Metin
    Altun, Yusuf
    Istanbullu, Ayhan
    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON OPTIMIZATION OF ELECTRICAL AND ELECTRONIC EQUIPMENT, VOL IV, 2008, : 149 - +
  • [7] Virtual laboratory for sliding mode and PID control of rotary inverted pendulum
    Demirtas, Metin
    Altun, Yusuf
    Istanbullu, Ayhan
    COMPUTER APPLICATIONS IN ENGINEERING EDUCATION, 2013, 21 (03) : 400 - 409
  • [8] Model Reference Based on Sliding Mode Control
    Wang, Qizhi
    Wang, Xiaoxia
    Cai, Zhiren
    2009 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTING AND INTELLIGENT SYSTEMS, PROCEEDINGS, VOL 2, 2009, : 738 - 741
  • [9] Sliding mode control of a spherical haptic device featuring electrorheological fluid
    Han, Young-Min
    Nguyen, Hung Quoc
    Choi, Seung-Bok
    SMART STRUCTURES AND MATERIALS 2006: SMART STRUCTURES AND INTEGRATED SYSTEMS, 2006, 6173
  • [10] Reaching Law Based Sliding Mode Control for Discrete MIMO Systems
    Mija, S. J.
    Thomas, Susy
    11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2010), 2010, : 1291 - 1296
12345