A Combined Force and Thermal Feedback ...
Type de document :
Compte-rendu et recension critique d'ouvrage
Titre :
A Combined Force and Thermal Feedback Interface for Minimally Invasive Procedures Simulation
Auteur(s) :
Guiatni, Mohamed [Auteur]
Control Laboratory
Riboulet, Vincent [Auteur]
Académie de Grenoble
Duriez, Christian [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Kheddar, Abderrahmane [Auteur]
Interactive Digital Humans [IDH]
Joint Robotics Laboratory [CNRS-AIST JRL ]
Cotin, Stéphane [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Control Laboratory
Riboulet, Vincent [Auteur]
Académie de Grenoble
Duriez, Christian [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Kheddar, Abderrahmane [Auteur]
Interactive Digital Humans [IDH]
Joint Robotics Laboratory [CNRS-AIST JRL ]
Cotin, Stéphane [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Titre de la revue :
IEEE/ASME Transactions on Mechatronics
Pagination :
1170-1181
Éditeur :
Institute of Electrical and Electronics Engineers
Date de publication :
2013-06
ISSN :
1083-4435
Mot(s)-clé(s) en anglais :
Haptic interfaces
medical simulation
thermal variables control
medical simulation
thermal variables control
Discipline(s) HAL :
Informatique [cs]/Robotique [cs.RO]
Résumé en anglais : [en]
We present a new interface for minimally invasive surgery (MIS) training that incorporates novel broadband sensory modalities that include visual, force, and thermal technology, into the evolution of the next generation ...
Lire la suite >We present a new interface for minimally invasive surgery (MIS) training that incorporates novel broadband sensory modalities that include visual, force, and thermal technology, into the evolution of the next generation of surgical robotics and simulators. A new haptic device is designed to provide high force and torque capabilities for a better touch feedback. Part of the surgical tool is kept to be the real grasper (i.e., the handle) of the haptic interface. Yet, our main novel contribution is in integrating thermal feedback in MIS applied perspectives; indeed, thermal sensing finds particular utility in detecting and isolating unstable arterial plaque and tumors. In addition, thermal energy is used in several therapeutic procedures such as tumor ablation or tissue welding. We propose several thermal exchange models based on the Pennes'bioheat transfer equation. The overall haptic interface (force and thermal display) is interfaced with an open source virtual reality simulator (the SOFA framework). We added in SOFA the necessary models dealing with thermal simulation using built-in data structure and methods. The integration is successful, and realistic simulation scenarios combining visual, thermal, and force feedback were achieved. Results using the overall simulation are presented and evaluatedLire moins >
Lire la suite >We present a new interface for minimally invasive surgery (MIS) training that incorporates novel broadband sensory modalities that include visual, force, and thermal technology, into the evolution of the next generation of surgical robotics and simulators. A new haptic device is designed to provide high force and torque capabilities for a better touch feedback. Part of the surgical tool is kept to be the real grasper (i.e., the handle) of the haptic interface. Yet, our main novel contribution is in integrating thermal feedback in MIS applied perspectives; indeed, thermal sensing finds particular utility in detecting and isolating unstable arterial plaque and tumors. In addition, thermal energy is used in several therapeutic procedures such as tumor ablation or tissue welding. We propose several thermal exchange models based on the Pennes'bioheat transfer equation. The overall haptic interface (force and thermal display) is interfaced with an open source virtual reality simulator (the SOFA framework). We added in SOFA the necessary models dealing with thermal simulation using built-in data structure and methods. The integration is successful, and realistic simulation scenarios combining visual, thermal, and force feedback were achieved. Results using the overall simulation are presented and evaluatedLire moins >
Langue :
Anglais
Vulgarisation :
Non
Collections :
Source :