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Fuzzy Controller for Positioning Tasks in Tactile Surgical Navigation

This paper presents a fuzzy controller for positioning control with a newly developed surgical navigation system which uses tactile signals as feedback to the operator. The advantage of using tactile vibrations to transmit feedback information about the position of the surgical tool relative to particular tissues is the reduction of the contant gaze of the operator from the field of operation to a remote screen. The Fuzzy controller was derived without any analytical system model and its efficiency was compared to that of an already developed classical controller.