Slide 20
Slide 20 text
Higher School of Economics , Moscow, 2019
DDDAS as an Adaptive Control Application System
In the proposed telepresence framework the real-time simulator acts
as a predictor, providing information to the surgeon consistent with
the no delay situation. Clearly, dynamics models both for the robot
dynamics and organ dynamics are necessary for the simulator to
function in this way.
The image preprocessor portion is the essential corrector.
The intelligent controller is designed as an invigilator.
The total integrated surgical telerobotics system is to behave as the human
surgeon would if there were not a performance encumbering delay.
Source: Cardullo, F.M., Lewis, H.W., III, and Panfilov, P.B. (2006). Building TelePresence Framework for Performing Robotic Surgical
Procedures.9th Annual International Workshop on Presence (PRESENCE 2006),Cleveland,Aug.24-26,2006,106-115.