Fundamentals of force feedback and application to a surgery simulator.
Identifieur interne : 000721 ( Ncbi/Checkpoint ); précédent : 000720; suivant : 000722Fundamentals of force feedback and application to a surgery simulator.
Auteurs : Heiko Maass [Allemagne] ; Benjamin B A. Chantier ; Hueseyin K. Cakmak ; Christos Trantakis ; Uwe G. KuehnapfelSource :
- Computer aided surgery : official journal of the International Society for Computer Aided Surgery [ 1092-9088 ] ; 2003.
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Abstract
Force feedback increases the effectiveness of virtual-reality surgery training systems. An overview of the fundamentals of applying force feedback is presented. An impedance control technique and data processing methods for stability preservation are illustrated. A flexible interface for general force-feedback applications has been developed. This interface is capable of controlling several different force-feedback hardware systems, including the SensAble PHANTOM, the Laparoscopic Impulse Engines from Immersion, and the VS-One virtual endoscopic surgery trainer. The findings are evaluated using the main simulation system, KISMET, and the modeling tools KISMO and VESUV. Within the scope of a cooperative project called HapticIO (funded by the German Ministry of Education and Research [BMBF]), new haptic devices have been designed for virtual neuroendoscopy and laparoscopy. The concept and implementations presented in this paper have been found to be flexible, stable and suitable for universal use. The impedance method, combined with the open-loop feed-forward control technique, is well suited and appropriate for the task.
PubMed: 15742665
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Chantier</name></author><author><name sortKey="Cakmak, Hueseyin K" sort="Cakmak, Hueseyin K" uniqKey="Cakmak H" first="Hueseyin K" last="Cakmak">Hueseyin K. Cakmak</name></author><author><name sortKey="Trantakis, Christos" sort="Trantakis, Christos" uniqKey="Trantakis C" first="Christos" last="Trantakis">Christos Trantakis</name></author><author><name sortKey="Kuehnapfel, Uwe G" sort="Kuehnapfel, Uwe G" uniqKey="Kuehnapfel U" first="Uwe G" last="Kuehnapfel">Uwe G. 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Chantier</name></author><author><name sortKey="Cakmak, Hueseyin K" sort="Cakmak, Hueseyin K" uniqKey="Cakmak H" first="Hueseyin K" last="Cakmak">Hueseyin K. Cakmak</name></author><author><name sortKey="Trantakis, Christos" sort="Trantakis, Christos" uniqKey="Trantakis C" first="Christos" last="Trantakis">Christos Trantakis</name></author><author><name sortKey="Kuehnapfel, Uwe G" sort="Kuehnapfel, Uwe G" uniqKey="Kuehnapfel U" first="Uwe G" last="Kuehnapfel">Uwe G. Kuehnapfel</name></author></analytic><series><title level="j">Computer aided surgery : official journal of the International Society for Computer Aided Surgery</title><idno type="ISSN">1092-9088</idno><imprint><date when="2003" type="published">2003</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Computer Simulation</term><term>Educational Technology</term><term>Endoscopy (methods)</term><term>Equipment Design</term><term>Feedback</term><term>Humans</term><term>Neurosurgical Procedures (methods)</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Endoscopy</term><term>Neurosurgical Procedures</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Computer Simulation</term><term>Educational Technology</term><term>Equipment Design</term><term>Feedback</term><term>Humans</term><term>User-Computer Interface</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Force feedback increases the effectiveness of virtual-reality surgery training systems. An overview of the fundamentals of applying force feedback is presented. An impedance control technique and data processing methods for stability preservation are illustrated. A flexible interface for general force-feedback applications has been developed. This interface is capable of controlling several different force-feedback hardware systems, including the SensAble PHANTOM, the Laparoscopic Impulse Engines from Immersion, and the VS-One virtual endoscopic surgery trainer. The findings are evaluated using the main simulation system, KISMET, and the modeling tools KISMO and VESUV. Within the scope of a cooperative project called HapticIO (funded by the German Ministry of Education and Research [BMBF]), new haptic devices have been designed for virtual neuroendoscopy and laparoscopy. The concept and implementations presented in this paper have been found to be flexible, stable and suitable for universal use. The impedance method, combined with the open-loop feed-forward control technique, is well suited and appropriate for the task.</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="Cakmak, Hueseyin K" sort="Cakmak, Hueseyin K" uniqKey="Cakmak H" first="Hueseyin K" last="Cakmak">Hueseyin K. Cakmak</name><name sortKey="Chantier, Benjamin B A" sort="Chantier, Benjamin B A" uniqKey="Chantier B" first="Benjamin B A" last="Chantier">Benjamin B A. Chantier</name><name sortKey="Kuehnapfel, Uwe G" sort="Kuehnapfel, Uwe G" uniqKey="Kuehnapfel U" first="Uwe G" last="Kuehnapfel">Uwe G. Kuehnapfel</name><name sortKey="Trantakis, Christos" sort="Trantakis, Christos" uniqKey="Trantakis C" first="Christos" last="Trantakis">Christos Trantakis</name></noCountry><country name="Allemagne"><region name="Bade-Wurtemberg"><name sortKey="Maass, Heiko" sort="Maass, Heiko" uniqKey="Maass H" first="Heiko" last="Maass">Heiko Maass</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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