On the Feasibility of Multi-Degree-of-Freedom Haptic Devices Using Passive Actuators

Łącki, Maciej; Rossa, Carlos

doi:10.1109/iros40897.2019.8968164

Cited by 4 publications

(2 citation statements)

References 21 publications

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“…A passive haptic device, therefore, will be able to generate a wider range of impedance without risk of instability. However, as shown by Lacki and Rossa ( 2019 ), developing a 5-DOF passive haptic system is bound to cause control difficulties. Alternatively, instead of replacing the electric motors from the device, the brakes can be integrated into the existing design.…”

Section: Discussionmentioning

confidence: 99%

Evaluation of a Virtual Reality Percutaneous Nephrolithotomy (PCNL) Surgical Simulator

et al. 2020

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Percutaneous Nephrolithotomy is the standard surgical procedure used to remove large kidney stones. PCNL procedures have a steep learning curve; a physician needs to complete between 36 and 60 procedures, to achieve clinical proficiency. Marion Surgical K181 is a virtual reality surgical simulator, which emulates the PCNL procedures without compromising the well-being of patients. The simulator uses a VR headset to place a user in a realistic and immersive operating theater, and haptic force-feedback robots to render physical interactions between surgical tools and the virtual patient. The simulator has two modules for two different aspects of PCNL kidney stone removal procedure: kidney access module where the user must insert a needle into the kidney of the patient, and a kidney stone removal module where the user removes the individual stones from the organ. In this paper, we present user trials to validate the face and construct validity of the simulator. The results, based on the data gathered from 4 groups of users independently, indicate that Marion's surgical simulator is a useful tool for teaching and practicing PCNL procedures. The kidney stone removal module of the simulator has proven construct validity by identifying the skill level of different users based on their tool path. We plan to continue evaluating the simulator with a larger sample of users to reinforce our findings.

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Section: Discussionmentioning

confidence: 99%

Evaluation of a Virtual Reality Percutaneous Nephrolithotomy (PCNL) Surgical Simulator

et al. 2020

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“…Unarguably, the biggest drawback of passive actuators is the fact that they can only generate forces that oppose the direction of the input velocity. As a result, controlling the direction of the output force in multi-degree-of-freedom devices is not trivial and not always feasible (Lacki and Rossa, 2019). Despite this limitation, they offer a great alternative to improve haptic realism.…”

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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Sensorless Force Approximation Control of 3-DOF Passive Haptic Devices

Łącki¹,

Rossa

2022

Lecture Notes in Computer Science

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On the Feasibility of Multi-Degree-of-Freedom Haptic Devices Using Passive Actuators

Cited by 4 publications

References 21 publications

Evaluation of a Virtual Reality Percutaneous Nephrolithotomy (PCNL) Surgical Simulator

Evaluation of a Virtual Reality Percutaneous Nephrolithotomy (PCNL) Surgical Simulator

Haptic Training Simulation

Sensorless Force Approximation Control of 3-DOF Passive Haptic Devices

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