Development of a Haptic Interface for Natural Orifice Translumenal Endoscopic Surgery Simulation.
Identifieur interne : 000239 ( Main/Exploration ); précédent : 000238; suivant : 000240Development of a Haptic Interface for Natural Orifice Translumenal Endoscopic Surgery Simulation.
Auteurs : Saurabh Dargar ; Suvranu De ; Ganesh SankaranarayananSource :
- IEEE transactions on haptics [ 2329-4051 ] ; 2016.
Abstract
Natural orifice translumenal endoscopic surgery (NOTES) is a minimally invasive procedure, which utilizes the body's natural orifices to gain access to the peritoneal cavity. The NOTES procedure is designed to minimize external scarring and patient trauma, however flexible endoscopy based pure NOTES procedures require critical scope handling skills. The delicate nature of the NOTES procedure requires extensive training, thus to improve access to training while reducing risk to patients we have designed and developed the VTEST©, a virtual reality NOTES simulator. As part of the simulator, a novel decoupled 2-DOF haptic device was developed to provide realistic force feedback to the user in training. A series of experiments were performed to determine the behavioral characteristics of the device. The device was found capable of rendering up to 5.62N and 0.190Nm of continuous force and torque in the translational and rotational DOF, respectively. The device possesses 18.1Hz and 5.7Hz of force bandwidth in the translational and rotational DOF, respectively. A feedforward friction compensator was also successfully implemented to minimize the negative impact of friction during the interaction with the device. In this work we have presented the detailed development and evaluation of the haptic device for the VTEST
DOI: 10.1109/TOH.2016.2543224
PubMed: 27008674
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PubMed, to step Corpus: 000064
- to stream PubMed, to step Curation: 000064
- to stream PubMed, to step Checkpoint: 000123
- to stream Ncbi, to step Merge: 004113
- to stream Ncbi, to step Curation: 004113
- to stream Ncbi, to step Checkpoint: 004113
- to stream Main, to step Merge: 000239
- to stream Main, to step Curation: 000239
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Development of a Haptic Interface for Natural Orifice Translumenal Endoscopic Surgery Simulation.</title><author><name sortKey="Dargar, Saurabh" sort="Dargar, Saurabh" uniqKey="Dargar S" first="Saurabh" last="Dargar">Saurabh Dargar</name></author><author><name sortKey="De, Suvranu" sort="De, Suvranu" uniqKey="De S" first="Suvranu" last="De">Suvranu De</name></author><author><name sortKey="Sankaranarayanan, Ganesh" sort="Sankaranarayanan, Ganesh" uniqKey="Sankaranarayanan G" first="Ganesh" last="Sankaranarayanan">Ganesh Sankaranarayanan</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2016">2016</date><idno type="doi">10.1109/TOH.2016.2543224</idno><idno type="RBID">pubmed:27008674</idno><idno type="pmid">27008674</idno><idno type="wicri:Area/PubMed/Corpus">000064</idno><idno type="wicri:Area/PubMed/Curation">000064</idno><idno type="wicri:Area/PubMed/Checkpoint">000123</idno><idno type="wicri:Area/Ncbi/Merge">004113</idno><idno type="wicri:Area/Ncbi/Curation">004113</idno><idno type="wicri:Area/Ncbi/Checkpoint">004113</idno><idno type="wicri:Area/Main/Merge">000239</idno><idno type="wicri:Area/Main/Curation">000239</idno><idno type="wicri:Area/Main/Exploration">000239</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Development of a Haptic Interface for Natural Orifice Translumenal Endoscopic Surgery Simulation.</title><author><name sortKey="Dargar, Saurabh" sort="Dargar, Saurabh" uniqKey="Dargar S" first="Saurabh" last="Dargar">Saurabh Dargar</name></author><author><name sortKey="De, Suvranu" sort="De, Suvranu" uniqKey="De S" first="Suvranu" last="De">Suvranu De</name></author><author><name sortKey="Sankaranarayanan, Ganesh" sort="Sankaranarayanan, Ganesh" uniqKey="Sankaranarayanan G" first="Ganesh" last="Sankaranarayanan">Ganesh Sankaranarayanan</name></author></analytic><series><title level="j">IEEE transactions on haptics</title><idno type="eISSN">2329-4051</idno><imprint><date when="2016" type="published">2016</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Natural orifice translumenal endoscopic surgery (NOTES) is a minimally invasive procedure, which utilizes the body's natural orifices to gain access to the peritoneal cavity. The NOTES procedure is designed to minimize external scarring and patient trauma, however flexible endoscopy based pure NOTES procedures require critical scope handling skills. The delicate nature of the NOTES procedure requires extensive training, thus to improve access to training while reducing risk to patients we have designed and developed the VTEST©, a virtual reality NOTES simulator. As part of the simulator, a novel decoupled 2-DOF haptic device was developed to provide realistic force feedback to the user in training. A series of experiments were performed to determine the behavioral characteristics of the device. The device was found capable of rendering up to 5.62N and 0.190Nm of continuous force and torque in the translational and rotational DOF, respectively. The device possesses 18.1Hz and 5.7Hz of force bandwidth in the translational and rotational DOF, respectively. A feedforward friction compensator was also successfully implemented to minimize the negative impact of friction during the interaction with the device. In this work we have presented the detailed development and evaluation of the haptic device for the VTEST</div></front></TEI><affiliations><list></list><tree><noCountry><name sortKey="Dargar, Saurabh" sort="Dargar, Saurabh" uniqKey="Dargar S" first="Saurabh" last="Dargar">Saurabh Dargar</name><name sortKey="De, Suvranu" sort="De, Suvranu" uniqKey="De S" first="Suvranu" last="De">Suvranu De</name><name sortKey="Sankaranarayanan, Ganesh" sort="Sankaranarayanan, Ganesh" uniqKey="Sankaranarayanan G" first="Ganesh" last="Sankaranarayanan">Ganesh Sankaranarayanan</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000239 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 000239 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= pubmed:27008674
|texte= Development of a Haptic Interface for Natural Orifice Translumenal Endoscopic Surgery Simulation.
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Exploration/RBID.i -Sk "pubmed:27008674" \
| HfdSelect -Kh $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |