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首页> 外文期刊>Future generation computer systems >An operating smooth man-machine collaboration method for cataract capsulorhexis using virtual fixture
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An operating smooth man-machine collaboration method for cataract capsulorhexis using virtual fixture

机译：一种使用虚拟夹具的白内障撕囊术的人机协作流畅方法

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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.
机译：眼科手术技术需要更高的精度，而白内障撕囊术需要足够的手术空间。在最近的研究中，没有专门的方法致力于提高撕囊术的安全性和灵活性。传统上，基于参数曲线的Guidance Virtual Fixture不够灵活，而使用PD控制的Forbidden-Region Virtual Fixture不够稳定。本文提出了一种使用集成虚拟夹具的远程操作控制方案，以协助执行白内障撕囊术，从而提高操作精度和灵活性。具体地，基于所提出的模拟工作路径和允许的工作空间的环形管模型，控制方案结合了有吸引力的减少误差的约束和各种刚度。它通过触觉设备向主机端提供复合反馈力，并让用户知道他是否在正确的路径上，并帮助他纠正操作错误，从而发挥作用。在四种不同的配置下测试了控制方案功能的实验评估，以验证每种算法及其组合的有效性。值得注意的是，在控制方案下，平均运动误差在控制方案下从0.56 mm降低至0.33 mm，降低了41％;在与运动缩放相结合的控制方案下，平均操作误差从0.56 mm降低至0.11 mm，降低了80％。运营商。

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  • 来源
    《Future generation computer systems》 |2019年第9期|522-529|共8页
  • 作者

    Weipeng Liu; Yaoguang Su; Wanqing Wu; Chen Xin; Zeng-Guang Hou; Gui-Bin Bian;

  • 作者单位

    Hebei University of Technology Department with control science and engineering China;

    Hebei University of Technology Department with control science and engineering and the Institute of Automation Chinese Academy of Sciences China;

    CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems and Shenzhen Institute of Advanced Technology-Chinese Academy of Sciences (SIAT-CAS) Shenzhen 518055 China;

    Beijing Institute of Ophthalmology Beijing Tongren Eye Center Beijing Tongren Hospital Capital Medical University and Beijing Ophthalmology and Visual Science Key Lab Beijing China;

    Institute of Automation Chinese Academy of Sciences China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Continuous circular capsulorhexis; Force feedback; Haptic device; Man-machine collaboration; Virtual fixture;

    机译：连续圆形撕囊;强制反馈;触觉装置;人机协作;虚拟夹具;

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