Abdominal Palpation Haptic Device for Colonoscopy Simulation Using Pneumatic Control.
Identifieur interne : 00A702 ( Main/Exploration ); précédent : 00A701; suivant : 00A703Abdominal Palpation Haptic Device for Colonoscopy Simulation Using Pneumatic Control.
Auteurs : M. Cheng ; W. Marinovic ; M. Watson ; S. Ourselin ; J. Passenger ; H. De Visser ; O. Salvado ; S. RiekSource :
- IEEE transactions on haptics [ 1939-1412 ]
Abstract
In this paper, we describe the development of a haptic device to be used in a simulator aiming to train the skills of gastroenterology assistants in abdominal palpation during colonoscopy, as well as to train team interaction skills for the colonoscopy team. To understand the haptic feedback forces to be simulated by the haptic device, we conducted an experiment with five participants of varying BMI. The applied forces and displacements were measured and hysteresis modeling was used to characterize the experimental data. These models were used to determine the haptic feedback forces required to simulate a BMI case in response to the real-time user interactions. The pneumatic haptic device consisted of a sphygmomanometer bladder as the haptic interface and a fuzzy controller to regulate the bladder pressure. The haptic device showed good steady state and dynamic response was adequate for simulating haptic interactions. Tracking accuracy averaged 94.2 percent within 300 ms of the reference input while the user was actively applying abdominal palpation and minor repositioning.
DOI: 10.1109/TOH.2011.66
PubMed: 26964066
Affiliations:
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De Visser</name></author><author><name sortKey="Salvado, O" sort="Salvado, O" uniqKey="Salvado O" first="O" last="Salvado">O. Salvado</name></author><author><name sortKey="Riek, S" sort="Riek, S" uniqKey="Riek S" first="S" last="Riek">S. Riek</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="????"><PubDate><MedlineDate>2012 Apr-Jun</MedlineDate></PubDate></date><idno type="doi">10.1109/TOH.2011.66</idno><idno type="RBID">pubmed:26964066</idno><idno type="pmid">26964066</idno><idno type="wicri:Area/PubMed/Corpus">000C24</idno><idno type="wicri:Area/PubMed/Curation">000C24</idno><idno type="wicri:Area/PubMed/Checkpoint">002452</idno><idno type="wicri:Area/Ncbi/Merge">004067</idno><idno type="wicri:Area/Ncbi/Curation">004067</idno><idno type="wicri:Area/Ncbi/Checkpoint">004067</idno><idno type="wicri:doubleKey">1939-1412::Cheng M:abdominal:palpation:haptic</idno><idno type="wicri:Area/Main/Merge">00B247</idno><idno type="wicri:Area/Main/Curation">00A702</idno><idno type="wicri:Area/Main/Exploration">00A702</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Abdominal Palpation Haptic Device for Colonoscopy Simulation Using Pneumatic Control.</title><author><name sortKey="Cheng, M" sort="Cheng, M" uniqKey="Cheng M" first="M" last="Cheng">M. Cheng</name></author><author><name sortKey="Marinovic, W" sort="Marinovic, W" uniqKey="Marinovic W" first="W" last="Marinovic">W. Marinovic</name></author><author><name sortKey="Watson, M" sort="Watson, M" uniqKey="Watson M" first="M" last="Watson">M. Watson</name></author><author><name sortKey="Ourselin, S" sort="Ourselin, S" uniqKey="Ourselin S" first="S" last="Ourselin">S. Ourselin</name></author><author><name sortKey="Passenger, J" sort="Passenger, J" uniqKey="Passenger J" first="J" last="Passenger">J. Passenger</name></author><author><name sortKey="De Visser, H" sort="De Visser, H" uniqKey="De Visser H" first="H" last="De Visser">H. De Visser</name></author><author><name sortKey="Salvado, O" sort="Salvado, O" uniqKey="Salvado O" first="O" last="Salvado">O. Salvado</name></author><author><name sortKey="Riek, S" sort="Riek, S" uniqKey="Riek S" first="S" last="Riek">S. Riek</name></author></analytic><series><title level="j">IEEE transactions on haptics</title><idno type="ISSN">1939-1412</idno></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper, we describe the development of a haptic device to be used in a simulator aiming to train the skills of gastroenterology assistants in abdominal palpation during colonoscopy, as well as to train team interaction skills for the colonoscopy team. To understand the haptic feedback forces to be simulated by the haptic device, we conducted an experiment with five participants of varying BMI. The applied forces and displacements were measured and hysteresis modeling was used to characterize the experimental data. These models were used to determine the haptic feedback forces required to simulate a BMI case in response to the real-time user interactions. The pneumatic haptic device consisted of a sphygmomanometer bladder as the haptic interface and a fuzzy controller to regulate the bladder pressure. The haptic device showed good steady state and dynamic response was adequate for simulating haptic interactions. Tracking accuracy averaged 94.2 percent within 300 ms of the reference input while the user was actively applying abdominal palpation and minor repositioning.</div></front></TEI><affiliations><list></list><tree><noCountry><name sortKey="Cheng, M" sort="Cheng, M" uniqKey="Cheng M" first="M" last="Cheng">M. Cheng</name><name sortKey="De Visser, H" sort="De Visser, H" uniqKey="De Visser H" first="H" last="De Visser">H. De Visser</name><name sortKey="Marinovic, W" sort="Marinovic, W" uniqKey="Marinovic W" first="W" last="Marinovic">W. Marinovic</name><name sortKey="Ourselin, S" sort="Ourselin, S" uniqKey="Ourselin S" first="S" last="Ourselin">S. Ourselin</name><name sortKey="Passenger, J" sort="Passenger, J" uniqKey="Passenger J" first="J" last="Passenger">J. Passenger</name><name sortKey="Riek, S" sort="Riek, S" uniqKey="Riek S" first="S" last="Riek">S. Riek</name><name sortKey="Salvado, O" sort="Salvado, O" uniqKey="Salvado O" first="O" last="Salvado">O. Salvado</name><name sortKey="Watson, M" sort="Watson, M" uniqKey="Watson M" first="M" last="Watson">M. Watson</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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