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Enhancement of Human Operator's Perceptual Sensitivity for Telesurgical Systems via Polytopic System Approach

Cho, Jang Ho LU ; Son, Hyoung Il; Annerstedt, Magnus; Robertsson, Anders LU and Johansson, Rolf LU (2012) IEEE International Conference on Biomedical Robotics and Biomechatronics 2012 In 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012 p.75-80
Abstract
A suturing including knot tying is one of the more difficult operations to learn in telesurgical systems. Apprentice surgeons commonly suffer from suture breakage or knot failure. The difficulty, generally, comes from the absence of feedback of interaction force cues in a medical device (e.g., a needle and a thread) . Even if there is haptic feedback to the operator, the operator may have a difficulty to detect a specific force such as suture breakage force. To deal with this problem, we propose a control method which can detect a suture breakage force more sensitively by considering human perception characteristics. A performance objective of the control method is designed according to the human perceptual factor, just noticeable... (More)
A suturing including knot tying is one of the more difficult operations to learn in telesurgical systems. Apprentice surgeons commonly suffer from suture breakage or knot failure. The difficulty, generally, comes from the absence of feedback of interaction force cues in a medical device (e.g., a needle and a thread) . Even if there is haptic feedback to the operator, the operator may have a difficulty to detect a specific force such as suture breakage force. To deal with this problem, we propose a control method which can detect a suture breakage force more sensitively by considering human perception characteristics. A performance objective of the control method is designed according to the human perceptual factor, just noticeable difference. By convex optimization of the performance indices, a stabilizing H_inf controller is proposed for the telesurgical system. Finally, the proposed control scheme is validated via a simulation study. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012
pages
75 - 80
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE International Conference on Biomedical Robotics and Biomechatronics 2012
external identifiers
  • wos:000313014600013
  • scopus:84867407626
ISBN
978-1-4577-1199-2
DOI
10.1109/BioRob.2012.6290801
project
LCCC
language
English
LU publication?
yes
id
934e88d0-caf4-4b6d-9a18-561ad1a8b5eb (old id 2856881)
date added to LUP
2012-07-02 13:55:38
date last changed
2017-01-01 08:00:53
@inproceedings{934e88d0-caf4-4b6d-9a18-561ad1a8b5eb,
  abstract     = {A suturing including knot tying is one of the more difficult operations to learn in telesurgical systems. Apprentice surgeons commonly suffer from suture breakage or knot failure. The difficulty, generally, comes from the absence of feedback of interaction force cues in a medical device (e.g., a needle and a thread) . Even if there is haptic feedback to the operator, the operator may have a difficulty to detect a specific force such as suture breakage force. To deal with this problem, we propose a control method which can detect a suture breakage force more sensitively by considering human perception characteristics. A performance objective of the control method is designed according to the human perceptual factor, just noticeable difference. By convex optimization of the performance indices, a stabilizing H_inf controller is proposed for the telesurgical system. Finally, the proposed control scheme is validated via a simulation study.},
  author       = {Cho, Jang Ho and Son, Hyoung Il and Annerstedt, Magnus and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012},
  isbn         = {978-1-4577-1199-2},
  language     = {eng},
  pages        = {75--80},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Enhancement of Human Operator's Perceptual Sensitivity for Telesurgical Systems via Polytopic System Approach},
  url          = {http://dx.doi.org/10.1109/BioRob.2012.6290801},
  year         = {2012},
}