An Adaptive Force Guidance System for Computer-Guided Laparoscopy Training

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.

Automated summary

An adaptive force guidance system for laparoscopic surgery training uses self-adjusting fuzzy sliding mode controllers and switching mode controllers to provide appropriate force feedback. The system incorporates human factors and mimics the guidance of a human instructor by using virtual fixtures. Implemented and evaluated on the computer-assisted surgical trainer, the system's effects are presented based on experimental test results.