Haptic interface with hybrid actuator for virtual needle insertion and tissue cutting

Gonenc, Berk; Gürocak, Hakan

doi:10.1109/haptic.2012.6183830

Cited by 5 publications

(5 citation statements)

References 12 publications

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“…Hybrid actuators combining two or more distinct actuation techniques are also an efficient way of achieving high performance in haptic devices and cope with the limitations described earlier. Several hybrid actuators have been proposed including rotary knobs for vehicle control (Chapuis et al, 2006), surgical devices (Gonenc and Gurocak, 2012), and telerobotics systems (Walker et al, 2009). A typical hybrid actuator comprises an active element for energy restitution and a passive actuator to increase torque capability and dissipate energy as needed.…”

Section: Improving Realism Through Effective and Transparent Actuationmentioning

confidence: 99%

Haptic Training Simulation

Lelevé

McDaniel

Rossa

2020

Front. virtual real.

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Immersive virtual environments combined with kinaesthetic and/or tactile haptic feedback are becoming an essential building block of simulator training in a variety of applications. This paper aims to illustrate the interest of hands-on training simulation with haptic feedback. We review the recent application domains and we expose the progress and open challenges in the medical domain which is particularly demonstrative. The paper then addresses two aspects of haptic feedback that could help enhance modern haptic training simulators' performance, namely transparent and efficient actuation for kinaesthetic feedback and tactile feedback. This research topic, beyond technological progress, should help design kinaesthetic and tactile haptic interfaces and motivate the use of new actuation techniques for more realistic and effective feedback in simulations as soon as users are immersed in virtual environments.

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Section: Improving Realism Through Effective and Transparent Actuationmentioning

confidence: 99%

Haptic Training Simulation

Lelevé

McDaniel

Rossa

2020

Front. virtual real.

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“…To avoid the chattering problem, walls can be rendered using a virtual stiffness/damping coefficient, modelled in (2).…”

Section: Rendering Forcesmentioning

confidence: 99%

“…The restrictive movement of the needle is another issue to solve, as these simulators fix the insertion points, losing realism during the process [2].…”

Section: Introductionmentioning

confidence: 99%

A New Method to Render Virtual Walls for Haptic Systems

Moreau

Redarce

2019

Proceedings of the 2019 3rd International Conference on Virtual and Augmented Reality Simulations

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For medical training, the use of haptic systems is a way to improve skills of novices, due to their capabilities to reproduce the natural gestures or replicate different environments. A simulator based on a haptic interface allows to reproduce the feeling of inserting a needle and render the different stiffness tissues while a needle is inserted. The majority of needle insertion simulators make use of prosthesis or limbs which limits the training procedures. Some simulators offer more realistic behavior using actual control laws based on active walls. However, problems occur with the speed estimation and the damping factor. To overcome this, an algorithm which can be used in a haptic simulator for the intraarticular punction procedure was developed. This algorithm allows rendering different tissues stiffness while a needle penetrates it avoiding speed estimation problems and rumbling phenomena caused by high damping factors.

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“…In recent years, design and evaluation of haptic interfaces with MRF devices have been reported by many authors [4,9,[13][14][15][16]. All of them with shear mode continuous rotation devices.…”

Section: Introductionmentioning

confidence: 99%

“…This is especially critical in high precision haptic applications that require stable and gentle interfaces. Examples include haptic needle insertion [16] and tissue cutting [17], in which the forces are typically in the range of 0-10 N [18,19].…”

Section: Introductionmentioning

confidence: 99%

Modeling and experimental evaluation of a rotary peristaltic magnetorheological fluid device with low off-state torque for haptic interfaces

Topçu

Taşcıoğlu

Konukseven

2018

J Braz. Soc. Mech. Sci. Eng.

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This article presents a novel rotary magnetorheological fluid device with inherently low off-state torque. The working principle of the device is similar to peristaltic pumps except the fluid remains inside the device and circulates continuously. Unlike other continuous rotation magnetorheological fluid devices, which operate in shear mode, the proposed device works in pressure driven flow mode. A proof of concept prototype with arbitrary dimensions is built and experimentally evaluated. Measured off-state torque is as low as 20 N.mm. Analytical model of the resistant torque and finite element simulations of the magnetic circuit are presented and validated with the experimental results. Using these models, an optimal device with similar off-state characteristics can be designed to fulfill specific requirements of size, weight, power and on-state torque. The proposed concept is promising especially for use in high precision haptic interfaces that require stability and transparency at the lower end of force spectrum.

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Haptic interface with hybrid actuator for virtual needle insertion and tissue cutting

Cited by 5 publications

References 12 publications

Haptic Training Simulation

Haptic Training Simulation

A New Method to Render Virtual Walls for Haptic Systems

Modeling and experimental evaluation of a rotary peristaltic magnetorheological fluid device with low off-state torque for haptic interfaces

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