Design and Implementation of Impedance Control on Dual-user System for Eye Surgery Training
Haptic devices can be used to set the motor skills of a novice surgeons in order to train them on how to perform cataract or vitrectomy eye surgeries. The ARASH:ASiST haptic system facilitates the procedure of surgery training by involving the expert and novice physicians in the process and providing the appropriate haptic feedback. The proposed framework for training is composed of two sections. First, the surgery is directly conducted by the expert surgeon. At the same time, the novice surgeon receives these correct movements through the haptic system. It helps the novice surgeon by increasing his/her level of competence in different tasks by learning the expert’s maneuvers. Second, the novice surgeon performs the surgery with the supervision of the expert. The proposed training framework allows the expert surgeon to intervene immediately into the process as many times as needed in order to avoid undesired complications. This intervention is due to the sudden mistakes happens by the trainee. Due to the interaction between two users and the environment and because of the exerted forces importance, a novel robust impedance scheme is proposed for utilizing in its control system. The stability analysis is presented by considering the closed-loop stability of the nonlinear system. The experimental results are implemented on the ARASH:ASiST haptic device, which is specially designed for vitrectomy surgery. Altogether, the main contribution of this thesis is to design a robust switching gain impedance controller for medical training purposes with a mechanical pedal mechanism to switch the dominant user during the procedure. The simulation and experimental results confirm the effectiveness of the proposed control algorithm in enhancing surgery training quality level.