HapticV1, Main, Exploration, bibRecordById, pubmed:22356957

Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.

Identifieur interne : 002388 ( Main/Exploration ); précédent : 002387; suivant : 002389

Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.

Auteurs : T. Beyl [Allemagne] ; P. Nicolai ; H. Mönnich ; J. Raczkowksy ; H. Wörn

Source :

Studies in health technology and informatics [ 0926-9630 ] ; 2012.

RBID : pubmed:22356957

English descriptors

KwdEn :
- Feedback, Humans, Robotics, Software, Surgery, Computer-Assisted (instrumentation), Touch Perception.
MESH :
- instrumentation : Surgery, Computer-Assisted.
- Feedback, Humans, Robotics, Software, Touch Perception.

Abstract

In current research, haptic feedback in robot assisted interventions plays an important role. However most approaches to haptic feedback only regard the mapping of the current forces at the surgical instrument to the haptic input devices, whereas surgeons demand a combination of medical imaging and telemanipulated robotic setups. In this paper we describe how this feature is integrated in our robotic research platform OP:Sense. The proposed method allows the automatic transfer of segmented imaging data to the haptic renderer and therefore allows enriching the haptic feedback with virtual fixtures based on imaging data. Anatomical structures are extracted from pre-operative generated medical images or virtual walls are defined by the surgeon inside the imaging data. Combining real forces with virtual fixtures can guide the surgeon to the regions of interest as well as helps to prevent the risk of damage to critical structures inside the patient. We believe that the combination of medical imaging and telemanipulation is a crucial step for the next generation of MIRS-systems.

PubMed: 22356957

Affiliations:

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.</title>
<author><name sortKey="Beyl, T" sort="Beyl, T" uniqKey="Beyl T" first="T" last="Beyl">T. Beyl</name>
<affiliation wicri:level="3"><nlm:affiliation>IPR, Karlsruhe Institute of Technology, Karlsruhe, Germany.</nlm:affiliation>
<country xml:lang="fr">Allemagne</country>
<wicri:regionArea>IPR, Karlsruhe Institute of Technology, Karlsruhe</wicri:regionArea>
<placeName><region type="land" nuts="1">Bade-Wurtemberg</region>
<region type="district" nuts="2">District de Karlsruhe</region>
<settlement type="city">Karlsruhe</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Nicolai, P" sort="Nicolai, P" uniqKey="Nicolai P" first="P" last="Nicolai">P. Nicolai</name>
</author>
<author><name sortKey="Monnich, H" sort="Monnich, H" uniqKey="Monnich H" first="H" last="Mönnich">H. Mönnich</name>
</author>
<author><name sortKey="Raczkowksy, J" sort="Raczkowksy, J" uniqKey="Raczkowksy J" first="J" last="Raczkowksy">J. Raczkowksy</name>
</author>
<author><name sortKey="Worn, H" sort="Worn, H" uniqKey="Worn H" first="H" last="Wörn">H. Wörn</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PubMed</idno>
<date when="2012">2012</date>
<idno type="RBID">pubmed:22356957</idno>
<idno type="pmid">22356957</idno>
<idno type="wicri:Area/PubMed/Corpus">000C62</idno>
<idno type="wicri:Area/PubMed/Curation">000C62</idno>
<idno type="wicri:Area/PubMed/Checkpoint">000B21</idno>
<idno type="wicri:Area/Ncbi/Merge">001E81</idno>
<idno type="wicri:Area/Ncbi/Curation">001E81</idno>
<idno type="wicri:Area/Ncbi/Checkpoint">001E81</idno>
<idno type="wicri:doubleKey">0926-9630:2012:Beyl T:haptic:feedback:in</idno>
<idno type="wicri:Area/Main/Merge">002414</idno>
<idno type="wicri:Area/Main/Curation">002388</idno>
<idno type="wicri:Area/Main/Exploration">002388</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.</title>
<author><name sortKey="Beyl, T" sort="Beyl, T" uniqKey="Beyl T" first="T" last="Beyl">T. Beyl</name>
<affiliation wicri:level="3"><nlm:affiliation>IPR, Karlsruhe Institute of Technology, Karlsruhe, Germany.</nlm:affiliation>
<country xml:lang="fr">Allemagne</country>
<wicri:regionArea>IPR, Karlsruhe Institute of Technology, Karlsruhe</wicri:regionArea>
<placeName><region type="land" nuts="1">Bade-Wurtemberg</region>
<region type="district" nuts="2">District de Karlsruhe</region>
<settlement type="city">Karlsruhe</settlement>
</placeName>
</affiliation>
</author>
<author><name sortKey="Nicolai, P" sort="Nicolai, P" uniqKey="Nicolai P" first="P" last="Nicolai">P. Nicolai</name>
</author>
<author><name sortKey="Monnich, H" sort="Monnich, H" uniqKey="Monnich H" first="H" last="Mönnich">H. Mönnich</name>
</author>
<author><name sortKey="Raczkowksy, J" sort="Raczkowksy, J" uniqKey="Raczkowksy J" first="J" last="Raczkowksy">J. Raczkowksy</name>
</author>
<author><name sortKey="Worn, H" sort="Worn, H" uniqKey="Worn H" first="H" last="Wörn">H. Wörn</name>
</author>
</analytic>
<series><title level="j">Studies in health technology and informatics</title>
<idno type="ISSN">0926-9630</idno>
<imprint><date when="2012" type="published">2012</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Feedback</term>
<term>Humans</term>
<term>Robotics</term>
<term>Software</term>
<term>Surgery, Computer-Assisted (instrumentation)</term>
<term>Touch Perception</term>
</keywords>
<keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Surgery, Computer-Assisted</term>
</keywords>
<keywords scheme="MESH" xml:lang="en"><term>Feedback</term>
<term>Humans</term>
<term>Robotics</term>
<term>Software</term>
<term>Touch Perception</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">In current research, haptic feedback in robot assisted interventions plays an important role. However most approaches to haptic feedback only regard the mapping of the current forces at the surgical instrument to the haptic input devices, whereas surgeons demand a combination of medical imaging and telemanipulated robotic setups. In this paper we describe how this feature is integrated in our robotic research platform OP:Sense. The proposed method allows the automatic transfer of segmented imaging data to the haptic renderer and therefore allows enriching the haptic feedback with virtual fixtures based on imaging data. Anatomical structures are extracted from pre-operative generated medical images or virtual walls are defined by the surgeon inside the imaging data. Combining real forces with virtual fixtures can guide the surgeon to the regions of interest as well as helps to prevent the risk of damage to critical structures inside the patient. We believe that the combination of medical imaging and telemanipulation is a crucial step for the next generation of MIRS-systems.</div>
</front>
</TEI>
<affiliations><list><country><li>Allemagne</li>
</country>
<region><li>Bade-Wurtemberg</li>
<li>District de Karlsruhe</li>
</region>
<settlement><li>Karlsruhe</li>
</settlement>
</list>
<tree><noCountry><name sortKey="Monnich, H" sort="Monnich, H" uniqKey="Monnich H" first="H" last="Mönnich">H. Mönnich</name>
<name sortKey="Nicolai, P" sort="Nicolai, P" uniqKey="Nicolai P" first="P" last="Nicolai">P. Nicolai</name>
<name sortKey="Raczkowksy, J" sort="Raczkowksy, J" uniqKey="Raczkowksy J" first="J" last="Raczkowksy">J. Raczkowksy</name>
<name sortKey="Worn, H" sort="Worn, H" uniqKey="Worn H" first="H" last="Wörn">H. Wörn</name>
</noCountry>
<country name="Allemagne"><region name="Bade-Wurtemberg"><name sortKey="Beyl, T" sort="Beyl, T" uniqKey="Beyl T" first="T" last="Beyl">T. Beyl</name>
</region>
</country>
</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 002388 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 002388 | 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:22356957
   |texte=   Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.
}}

Pour générer des pages wiki

HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Exploration/RBID.i   -Sk "pubmed:22356957" \
       | HfdSelect -Kh $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd   \
       | NlmPubMed2Wicri -a HapticV1

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

Serveur d'exploration sur les dispositifs haptiques

Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.

Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.

Source :

English descriptors

Abstract

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

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri

Pour générer des pages wiki

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.