Haptic virtual surgery simulation system under field programmable analogue array-based hybrid control.

ABSTRACT: In this paper, a bilateral haptic virtual surgery simulation system under a hybrid controller was studied. An analogue controller realized by a field programmable analogue array (FPAA) was paralleled in the operator robot side, which reduced the impact of controller discretisation on the system. A system stability conditions under hybrid control with multiple-operators were deduced. The stability analysis indicates that the addition of analogue derivative term widens the range of haptic controls gains that satisfy the multiple-users' stability conditions. Finally, the human's performance of a stiffness discrimination task was studied in an independently developed minimally invasive surgical (MIS) platform. The experiment results show that, human operators under the hybrid controller achiev

SUBMITTER: Ru S 

PROVIDER: S-EPMC9300654 | biostudies-literature | 2022 Jul

REPOSITORIES: biostudies-literature