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V-ANFIS for Dealing with Visual Uncertainty for Force Estimation in Robotic Surgery

Author
Aviles, A.; Alsaleh, S.; Montseny, E.; Casals, A.
Type of activity
Presentation of work at congresses
Name of edition
16th World Congress of the International-Fuzzy-Systems-Association (IFSA) / 9th Conference of the European-Society-for-Fuzzy-Logic-and-Technology (EUSFLAT)
Date of publication
2015
Presentation's date
2015-06-30
Book of congress proceedings
Proceedings of the 16th World Congress of the International-Fuzzy-Systems-Association (IFSA) / 9th Conference of the European-Society-for-Fuzzy-Logic-and-Technology (EUSFLAT). Advances in Intelligent Systems Research
First page
1465
Last page
1472
Publisher
Atlantis Press
Repository
http://hdl.handle.net/2117/102193 Open in new window
Abstract
Accurate and robust estimation of applied forces in Robotic-Assisted Minimally Invasive Surgery is a very challenging task. Many vision-based solutions attempt to estimate the force by measuring the surface deformation after contacting the surgical tool. However, visual uncertainty, due to tool occlusion, is a major concern and can highly affect the results' precision. In this paper, a novel design of an adaptive neuro-fuzzy inference strategy with a voting step (V-ANFIS) is used to accommodate ...
Citation
Aviles, A., Alsaleh, S., Montseny, E., Casals, A. V-ANFIS for Dealing with Visual Uncertainty for Force Estimation in Robotic Surgery. A: World Congress of the International-Fuzzy-Systems-Association. "Proceedings of the 16th World Congress of the International-Fuzzy-Systems-Association (IFSA) / 9th Conference of the European-Society-for-Fuzzy-Logic-and-Technology (EUSFLAT). Advances in Intelligent Systems Research". Gijón: Atlantis Press, 2015, p. 1465-1472.
Keywords
force estimation, robotic-assisted surgery, soft computing
Group of research
CREB - Biomedical Engineering Research Centre
GRINS - Intelligent Robots and Systems

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