ON THE TRAJECTORIES CONTROL OF A HYBRID ROBOTIC SYSTEM

Abstract

The contribution of this research is to advance a new sonification operator capable to solve the inverse problem of sonification in order to capture hardly detectable details in medical images. The direct problem of sonification is converting data points into audio samples by a mapping which involves three processes - data, acoustics parameters and sound representations. The inverse problem is reversing back the sound samples into data points in order to gain in clarity and contrast in medical images, and by reducing the noise, new hidden details to be discovered. This approach is exercised in the control of the surgical instrument trajectories for a cooperative surgeon-robot hybrid system. The objective of the cooperation between the surgeon and the robot is to stop the surgical instrument to reach some forbidden frontiers.