A dynamic friction model for haptic simulation of needle insertion.
Identifieur interne : 006245 ( Main/Curation ); précédent : 006244; suivant : 006246A dynamic friction model for haptic simulation of needle insertion.
Auteurs : Yinghui Zhang [Royaume-Uni] ; Roger PhillipsSource :
- Studies in health technology and informatics [ 0926-9630 ] ; 2005.
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Abstract
This paper describes a new friction model, termed the brush model, suitable for haptic simulations of needle insertion in virtual environments. A novel two-layer surface contact model is presented that provides real-time rendering of friction forces at haptic refresh rates. A significant modification to the brush model is also presented, leading to a new friction model, termed the fixed bristle brush model. Simulation results show that the two models can accurately reflect the experimentally observed friction characteristics. This paper presents a simulation of friction during needle insertion; results agree with the experimental observations.
PubMed: 15718809
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