A New Method to Render Virtual Walls for Haptic Systems

D, Ma de los Angeles Alamilla; Moreau, Richard; Redarce, Tanneguy

doi:10.1145/3332305.3332317

Cited by 3 publications

(1 citation statement)

References 12 publications

(19 reference statements)

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“…We are also working on an intra-articular injection (it is one of the most used methods by rheumatologists to treat shoulder pain) under an ultrasonography simulator, which will also use hybrid actuation. First, results about the electric part are available in [110].…”

Section: Discussionmentioning

confidence: 99%

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Senac

Lelevé

Moreau

et al. 2019

MTI

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Simulators have been traditionally used for centuries during medical gestures training. Nowadays, mechatronic technologies have opened the way to more evolved solutions enabling objective assessment and dedicated pedagogic scenarios. Trainees can now practice in virtual environments representing various kind of patient and body parts including physio-pathologies issues. Gestures, to be mastered, vary according to each medical specialty (e.g., ultrasound probe orientations, or forceps installation during assisted delivery). Hence, medical students need kinesthetic feedback in order to significantly improve their learning capabilities. Gesture simulators require haptic devices with variable stiffness actuators. Existing solutions do not always fit the requirements because of their significant size. Contrary to electric actuators, pneumatic technology is low-cost, available off-the-shelf and offers a better mass–power ratio. However, it presents two main drawbacks: nonlinear dynamics and need for a compressed air supply. During the last decade, we have developed several haptic solutions based on pneumatic actuation (e.g., birth simulator, epidural needle insertion simulator) and, recently, in a joint venture with Prisme laboratory, a pneumatic probe master device for remote ultrasonography. This paper recalls literature scientific approaches on pneumatic actuation developed in the medical context and illustrated with the aforementioned applications to highlight the benefits.

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Section: Discussionmentioning

confidence: 99%

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Senac

Lelevé

Moreau

et al. 2019

MTI

Self Cite

View full text Add to dashboard Cite

show abstract

Development of haptic simulator for practicing the intraarticular needle injection under echography

Daniel

Moreau

Redarce

2020

2020 42nd Annual International Conference of the IEEE Engineering in Medicine &Amp; Biology Society (EMBC)

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Intraarticular needle injection under ultrasound guidance is the most used method to provide pain relief in joints. To learn this process, medical students need to practice in order to master the manipulation of the syringe and the ultrasound probe at the same time. To offer a risk-free training for trainees, we present in this paper the development and design of a haptic simulator prototype. The models and methods used to render the forces involved are introduced, as well as the mechanical design and finally a validation test performed by our medical partner. Clinical relevance-This simulator helps medical students to train intraarticular needle injection under ultrasound guidance using a haptic device to provide realism and immersion.

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Enhanced tracking wall: A real-time computing method for needle injection on haptic simulators

Alamilla-Daniel¹,

Moreau²,

Redarce³

2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Haptic simulators can help medical students to train and improve their skills before practicing with a real patient. However, the vast majority of needle insertion haptic simulators are based on sophisticated models that are accurate but highly demanding in computing resources. Most of them do not provide haptic feedback and/or are not suitable for haptic control due to their computing time. In this paper, we presented a new low computing consuming method that aims to provide a realistic needle insertion experience to the student. A description of the proposed solution is provided, and it is illustrated by experimental results to highlight its performance.

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A New Method to Render Virtual Walls for Haptic Systems

Cited by 3 publications

References 12 publications

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Development of haptic simulator for practicing the intraarticular needle injection under echography

Enhanced tracking wall: A real-time computing method for needle injection on haptic simulators

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