A real-time haptic interface for interventional radiology procedures.
Identifieur interne : 001975 ( PubMed/Corpus ); précédent : 001974; suivant : 001976A real-time haptic interface for interventional radiology procedures.
Auteurs : Thomas Moix ; Dejan Ilic ; Blaise Fracheboud ; Jurjen Zoethout ; Hannes BleulerSource :
- Studies in health technology and informatics [ 0926-9630 ] ; 2005.
English descriptors
- KwdEn :
- MESH :
- geographic : Switzerland.
- methods : Radiography, Interventional.
- Humans, Touch, User-Computer Interface.
Abstract
Interventional Radiology (IR) is a minimally-invasive surgery technique (MIS) where guidewires and catheters are steered in the vascular system under X-ray imaging. In order to perform these procedures, a radiologist has to be correctly trained to master hand-eye coordination, instrument manipulation and procedure protocols. This paper proposes a computer-assisted training environment dedicated to IR. The system is composed of a virtual reality (VR) simulation of the anatomy of the patient linked to a robotic interface providing haptic force feedback.The paper focuses on the requirements, design and prototyping of a specific part of the haptic interface dedicated to catheters. Translational tracking and force feedback on the catheter is provided by two cylinders forming a friction drive arrangement. The whole friction can be set in rotation with an additional motor providing torque feedback. A force and a torque sensor are integrated in the cylinders for direct measurement on the catheter enabling disturbance cancellation with a close-loop force control strategy.
PubMed: 15718754
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pubmed:15718754Le document en format XML
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In order to perform these procedures, a radiologist has to be correctly trained to master hand-eye coordination, instrument manipulation and procedure protocols. This paper proposes a computer-assisted training environment dedicated to IR. The system is composed of a virtual reality (VR) simulation of the anatomy of the patient linked to a robotic interface providing haptic force feedback.The paper focuses on the requirements, design and prototyping of a specific part of the haptic interface dedicated to catheters. Translational tracking and force feedback on the catheter is provided by two cylinders forming a friction drive arrangement. The whole friction can be set in rotation with an additional motor providing torque feedback. A force and a torque sensor are integrated in the cylinders for direct measurement on the catheter enabling disturbance cancellation with a close-loop force control strategy.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">15718754</PMID><DateCreated><Year>2005</Year><Month>02</Month><Day>18</Day></DateCreated><DateCompleted><Year>2005</Year><Month>08</Month><Day>25</Day></DateCompleted><DateRevised><Year>2006</Year><Month>11</Month><Day>15</Day></DateRevised><Article PubModel="Print"><Journal><ISSN IssnType="Print">0926-9630</ISSN><JournalIssue CitedMedium="Print"><Volume>111</Volume><PubDate><Year>2005</Year></PubDate></JournalIssue><Title>Studies in health technology and informatics</Title><ISOAbbreviation>Stud Health Technol Inform</ISOAbbreviation></Journal><ArticleTitle>A real-time haptic interface for interventional radiology procedures.</ArticleTitle><Pagination><MedlinePgn>329-33</MedlinePgn></Pagination><Abstract><AbstractText>Interventional Radiology (IR) is a minimally-invasive surgery technique (MIS) where guidewires and catheters are steered in the vascular system under X-ray imaging. In order to perform these procedures, a radiologist has to be correctly trained to master hand-eye coordination, instrument manipulation and procedure protocols. This paper proposes a computer-assisted training environment dedicated to IR. The system is composed of a virtual reality (VR) simulation of the anatomy of the patient linked to a robotic interface providing haptic force feedback.The paper focuses on the requirements, design and prototyping of a specific part of the haptic interface dedicated to catheters. Translational tracking and force feedback on the catheter is provided by two cylinders forming a friction drive arrangement. The whole friction can be set in rotation with an additional motor providing torque feedback. A force and a torque sensor are integrated in the cylinders for direct measurement on the catheter enabling disturbance cancellation with a close-loop force control strategy.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Moix</LastName><ForeName>Thomas</ForeName><Initials>T</Initials><AffiliationInfo><Affiliation>Laboratoire de Systèmes Robotiques, EPFL, ME.B3, Station 9, 1015 Lausanne, Switzerland.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Ilic</LastName><ForeName>Dejan</ForeName><Initials>D</Initials></Author><Author ValidYN="Y"><LastName>Fracheboud</LastName><ForeName>Blaise</ForeName><Initials>B</Initials></Author><Author ValidYN="Y"><LastName>Zoethout</LastName><ForeName>Jurjen</ForeName><Initials>J</Initials></Author><Author ValidYN="Y"><LastName>Bleuler</LastName><ForeName>Hannes</ForeName><Initials>H</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>Netherlands</Country><MedlineTA>Stud Health Technol Inform</MedlineTA><NlmUniqueID>9214582</NlmUniqueID><ISSNLinking>0926-9630</ISSNLinking></MedlineJournalInfo><CitationSubset>T</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D015641">Radiography, Interventional</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" Type="Geographic" UI="D013557">Switzerland</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D014110">Touch</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D014584">User-Computer Interface</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="pubmed"><Year>2005</Year><Month>2</Month><Day>19</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2005</Year><Month>8</Month><Day>27</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2005</Year><Month>2</Month><Day>19</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pubmed">15718754</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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