A Combined Force and Thermal Feedback Interface for Minimally Invasive Procedures Simulation
Identifieur interne : 001642 ( Main/Exploration ); précédent : 001641; suivant : 001643A Combined Force and Thermal Feedback Interface for Minimally Invasive Procedures Simulation
Auteurs : Mohamed Guiatni [Algérie] ; Vincent Riboulet [France] ; Christian Duriez [France] ; Abderrahmane Kheddar [France] ; Stéphane Cotin [France]Source :
- IEEE/ASME Transactions on Mechatronics [ 1083-4435 ] ; 2013-06.
English descriptors
Abstract
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 evaluated
Url:
DOI: 10.1109/TMECH.2012.2197862
Affiliations:
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Le document en format XML
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type="institution" xml:id="struct-301700" status="VALID"><idno type="IdRef">026404524</idno><idno type="ISNI">0000000121517701</idno><orgName>Université de Lille, Sciences Humaines et Sociales</orgName><desc><address><addrLine>Domaine universitaire du "Pont de Bois"Rue du Barreau BP 60149 59653 Villeneuve d'Ascq Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lille3.fr/</ref></desc></org></tutelle><tutelle active="#struct-92973" type="indirect"><org type="institution" xml:id="struct-92973" status="VALID"><idno type="IdRef">026404184</idno><orgName>Université de Lille, Sciences et Technologies</orgName><desc><address><addrLine>Cité Scientifique - 59655 Villeneuve d'Ascq Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lille1.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle name="UMR8022" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-104752" type="direct"><org type="laboratory" xml:id="struct-104752" status="VALID"><idno type="RNSR">200818245B</idno><orgName>INRIA Lille - Nord Europe</orgName><desc><address><addrLine>Parc Scientifique de la Haute Borne 40, avenue Halley Bât.A, Park Plaza 59650 Villeneuve d'Ascq</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/lille/</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-129671" type="direct"><org type="laboratory" xml:id="struct-129671" status="VALID"><idno type="RNSR">198618246Y</idno><orgName>INRIA Nancy - Grand Est</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/nancy</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author></analytic><idno type="DOI">10.1109/TMECH.2012.2197862</idno><series><title level="j">IEEE/ASME Transactions on Mechatronics</title><idno type="ISSN">1083-4435</idno><imprint><date type="datePub">2013-06</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Haptic interfaces</term><term>medical simulation</term><term>thermal variables control</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="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 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 evaluated</div></front></TEI><affiliations><list><country><li>Algérie</li><li>France</li></country></list><tree><country name="Algérie"><noRegion><name sortKey="Guiatni, Mohamed" sort="Guiatni, Mohamed" uniqKey="Guiatni M" first="Mohamed" last="Guiatni">Mohamed Guiatni</name></noRegion></country><country name="France"><noRegion><name sortKey="Riboulet, Vincent" sort="Riboulet, Vincent" uniqKey="Riboulet V" first="Vincent" last="Riboulet">Vincent Riboulet</name></noRegion><name sortKey="Cotin, Stephane" sort="Cotin, Stephane" uniqKey="Cotin S" first="Stéphane" last="Cotin">Stéphane Cotin</name><name sortKey="Duriez, Christian" sort="Duriez, Christian" uniqKey="Duriez C" first="Christian" last="Duriez">Christian Duriez</name><name sortKey="Kheddar, Abderrahmane" sort="Kheddar, Abderrahmane" uniqKey="Kheddar A" first="Abderrahmane" last="Kheddar">Abderrahmane Kheddar</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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