HapticV1, Main, Curation, bibRecord, 006C94

A 4-dof haptic device for hysteroscopy simulation

Identifieur interne : 006C94 ( Main/Curation ); précédent : 006C93; suivant : 006C95

A 4-dof haptic device for hysteroscopy simulation

Auteurs : U. Spaelter [Suisse] ; Th. Moix [Suisse] ; D. Ilic [Suisse] ; H. Bleuler [Suisse] ; M. Bajka [Suisse]

Source :

RBID : Pascal:06-0459749

Descripteurs français

Pascal (Inist)
- Rétroaction, Homme, Sensibilité tactile, Chirurgie, Réalité virtuelle, Simulateur, Main, Coordination, Mécanisme sphérique, Inertie, Insertion, Cinématique, ..
Wicri :
- topic : Homme, Chirurgie, Réalité virtuelle.

English descriptors

KwdEn :
- Coordination, Feedback regulation, Hand, Human, Inertia, Insertion, Kinematics, Simulator, Spherical mechanism, Surgery, Tactile sensitivity, Virtual reality.

Abstract

In minimal-invasive surgery surgeons are generally confronted with complex scenarii and sometimes they have to overcome unexpected pathologies or life-threatening injuries. Therefore there is a demand for realistic training without risk to the patient. Since a decade ago there have been research activities on virtual reality surgery simulators with haptic feedback with the goal to provide an alternative to traditional training methods on animals or cadavers. Haptic feedback is a key feature for every surgery stimulator for the training of hand-eye coordination. In this paper a 4-dof haptic device is presented for hysteroscopy, the examination and treatment of the uterine cavity through the vagina. Specifications are presented, and kinematics as well as force transmission are analyzed. The realized prototype, result of a systematic design process, is based on a 2-dof spherical manipulator with low inertia and a 2-dof serial extension, which allows the use of slightly adapted original instruments. With difference to common surgery simulators tool insertion and complete removal can be performed. The performance of the prototype is shortly discussed.

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Pascal:06-0459749

Le document en format XML

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<front><div type="abstract" xml:lang="en">In minimal-invasive surgery surgeons are generally confronted with complex scenarii and sometimes they have to overcome unexpected pathologies or life-threatening injuries. Therefore there is a demand for realistic training without risk to the patient. Since a decade ago there have been research activities on virtual reality surgery simulators with haptic feedback with the goal to provide an alternative to traditional training methods on animals or cadavers. Haptic feedback is a key feature for every surgery stimulator for the training of hand-eye coordination. In this paper a 4-dof haptic device is presented for hysteroscopy, the examination and treatment of the uterine cavity through the vagina. Specifications are presented, and kinematics as well as force transmission are analyzed. The realized prototype, result of a systematic design process, is based on a 2-dof spherical manipulator with low inertia and a 2-dof serial extension, which allows the use of slightly adapted original instruments. With difference to common surgery simulators tool insertion and complete removal can be performed. The performance of the prototype is shortly discussed.</div>
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A 4-dof haptic device for hysteroscopy simulation

A 4-dof haptic device for hysteroscopy simulation

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri