Haptic Modeling and Rendering Based on Neurofuzzy Rules for Surgical Cutting Simulation
Haptic Modeling and Rendering Based on Neurofuzzy Rules for Surgical Cutting Simulation作者机构：Institute of Automation Chinese Academy of Sciences Beijing 100080
出 版 物：《自动化学报》 (Acta Automatica Sinica)
年 卷 期：2006年第32卷第2期
页 面：193-199页
核心收录：
学科分类：0810[工学-信息与通信工程] 1205[管理学-图书情报与档案管理] 12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）]
基 金：Supported by National Natural Science Foundation of P. R. China (60273028)
摘 要：This paper combines image processing with 3D magnetic tracking method to develop a scalpel for haptic simulation in surgical cutting. First, a cutting parameter acquisition setup is presented and the performance is validated from soft tissue cutting. Then, based on the acquired input-output data pairs, a method for fuzzy system modeling is presented, that is, after partitioning each input space equally and giving the premises and the total number of fuzzy rules, the consequent parameters and the fuzzy membership functions (MF) of the input variables are learned and optimized via a neurofuzzy modeling technique. Finally, a haptic scalpel implemented with the established cutting model is described. Preliminary results show the feasibility of the haptic display system for real-time interaction.
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