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 achieve the highest task success rates.

What can the metaverse do for urology?

“…Furthermore, metaverse improved simulation involves not only true visual and auditive engagement but also true tactile sensations thanks to haptic simulation systems which are under investigation with the aim of giving to operators in training the most reliable haptic feedback from virtual tissue manipulation. 15 Nevertheless, mirror worlds mean not only simulation but also a reliable remote recreation of a real-time evolving environment to interact with. Telesurgery is certainly the most dreamed application of this concept of metaverse.…”

“…Furthermore, metaverse improved simulation involves not only true visual and auditive engagement but also true tactile sensations thanks to haptic simulation systems which are under investigation with the aim of giving to operators in training the most reliable haptic feedback from virtual tissue manipulation. 15…”