| DOI | Resolve DOI: https://doi.org/10.1109/CSCWD.2015.7231004 |
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| Author | Search for: Hu, Lingyan; Search for: Xiao, Lei; Search for: Liu, Xiaoping; Search for: Yang, Chunsheng1 |
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| Affiliation | - National Research Council of Canada. Information and Communication Technologies
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| Format | Text, Article |
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| Conference | 19th IEEE International Conference on Computer Supported Cooperative Work in Design, CSCWD 2015, 6 May 2015 through 8 May 2015 |
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| Subject | Algorithms; Bone; Convergence of numerical methods; Histology; Interactive computer systems; Sliding mode control; Surgery; Tissue; Virtual reality; Haptic interactions; Human tissues; Lyapunov theories; Nonlinear impedance; Soft tissue; Stable operation; Virtual surgery; Surgical equipment |
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| Abstract | What operation instruments interact with are human tissues and organs in virtual surgery. Because its impedance is nonlinear and unpredictable, the haptic interaction is difficult to be stable, especially when interacting with rigid tissues such as bone. To solve this difficult problem, this paper presents a sliding mode control algorithm based on Lyapunov theory to realize stable operation for virtual surgery which is never seen in previous research. The simulation results show that 1) the haptic interaction can remain stable when interacting with both soft tissues and large impedance tissues such as bone; 2) the haptic interaction can remain stable even when operation instruments interact with nonlinear impedance tissues. |
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| Publication date | 2015-05 |
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| In | |
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| Language | English |
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| Peer reviewed | Yes |
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| NPARC number | 21277382 |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | 962a1aed-e240-41cb-9c9d-408b4a5a3b29 |
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| Record created | 2016-03-09 |
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| Record modified | 2020-04-22 |
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