Proceedings of the 2015 Conference of the International Fuzzy Systems Association and the European Society for Fuzzy Logic and Technology

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

Authors
Angelica I. Aviles, Samar M. Alsaleh, Eduard Montseny, Alicia Casals
Corresponding Author
Angelica I. Aviles
Available Online June 2015.
DOI
https://doi.org/10.2991/ifsa-eusflat-15.2015.208How to use a DOI?
Keywords
Soft computing, robotic-assisted surgery, force estimation.
Abstract
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 with this loss of information. Experimental results show a significant accuracy improvement from 50% to 77% with respect to other proposals.
Open Access
This is an open access article distributed under the CC BY-NC license.

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Cite this article

TY  - CONF
AU  - Angelica I. Aviles
AU  - Samar M. Alsaleh
AU  - Eduard Montseny
AU  - Alicia Casals
PY  - 2015/06
DA  - 2015/06
TI  - V-ANFIS for Dealing with Visual Uncertainty for Force Estimation in Robotic Surgery
BT  - Proceedings of the 2015 Conference of the International Fuzzy Systems Association and the European Society for Fuzzy Logic and Technology
PB  - Atlantis Press
SP  - 1465
EP  - 1472
SN  - 1951-6851
UR  - https://doi.org/10.2991/ifsa-eusflat-15.2015.208
DO  - https://doi.org/10.2991/ifsa-eusflat-15.2015.208
ID  - Aviles2015/06
ER  -