Real-time haptic interface for VR colonoscopy simulation.
Identifieur interne : 001981 ( PubMed/Curation ); précédent : 001980; suivant : 001982Real-time haptic interface for VR colonoscopy simulation.
Auteurs : Dejan Ilic [Suisse] ; Thomas Moix ; Nial Mc Cullough ; Lindo Duratti ; Ivan Vecerina ; Hannes BleulerSource :
- Studies in health technology and informatics [ 0926-9630 ] ; 2005.
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Abstract
Colonoscopy is an endoscopic medical procedure where the colon of the patient is examined. This minimally invasive technique is performed with a colonoscope, a long tube with an integrated imaging device at its tip. The doctors performing these procedures require high skills in multiple domains such as hand-eye coordination, visualization, safety and ease at guiding flexible endoscopes. The importance of training colonoscopy procedures rises with the growth of variety of colon diseases. In order to safely train surgeons to these procedures, a computer-assisted haptic simulator is proposed. This paper describes both the haptic hardware interface and virtual reality software that compose the training system. A high friction belt is used to render the required forces and to insure the absence of slippage. A differential drive actuated with two DC motors enables to set the system into translation and rotation. A virtual reality environment has been developed to provide real-time visualisation and force feedback.
PubMed: 15718729
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This minimally invasive technique is performed with a colonoscope, a long tube with an integrated imaging device at its tip. The doctors performing these procedures require high skills in multiple domains such as hand-eye coordination, visualization, safety and ease at guiding flexible endoscopes. The importance of training colonoscopy procedures rises with the growth of variety of colon diseases. In order to safely train surgeons to these procedures, a computer-assisted haptic simulator is proposed. This paper describes both the haptic hardware interface and virtual reality software that compose the training system. A high friction belt is used to render the required forces and to insure the absence of slippage. A differential drive actuated with two DC motors enables to set the system into translation and rotation. A virtual reality environment has been developed to provide real-time visualisation and force feedback.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">15718729</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>2009</Year><Month>11</Month><Day>03</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>Real-time haptic interface for VR colonoscopy simulation.</ArticleTitle><Pagination><MedlinePgn>208-12</MedlinePgn></Pagination><Abstract><AbstractText>Colonoscopy is an endoscopic medical procedure where the colon of the patient is examined. This minimally invasive technique is performed with a colonoscope, a long tube with an integrated imaging device at its tip. The doctors performing these procedures require high skills in multiple domains such as hand-eye coordination, visualization, safety and ease at guiding flexible endoscopes. The importance of training colonoscopy procedures rises with the growth of variety of colon diseases. In order to safely train surgeons to these procedures, a computer-assisted haptic simulator is proposed. This paper describes both the haptic hardware interface and virtual reality software that compose the training system. A high friction belt is used to render the required forces and to insure the absence of slippage. A differential drive actuated with two DC motors enables to set the system into translation and rotation. A virtual reality environment has been developed to provide real-time visualisation and force feedback.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Ilic</LastName><ForeName>Dejan</ForeName><Initials>D</Initials><AffiliationInfo><Affiliation>Laboratoire de Systèmes Robotiques, EPFL, Chemin des Machines, ME.B3, 1015 Lausanne, Switzerland.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Moix</LastName><ForeName>Thomas</ForeName><Initials>T</Initials></Author><Author ValidYN="Y"><LastName>Mc Cullough</LastName><ForeName>Nial</ForeName><Initials>N</Initials></Author><Author ValidYN="Y"><LastName>Duratti</LastName><ForeName>Lindo</ForeName><Initials>L</Initials></Author><Author ValidYN="Y"><LastName>Vecerina</LastName><ForeName>Ivan</ForeName><Initials>I</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="Y" UI="D003113">Colonoscopy</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D003198">Computer Simulation</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</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">15718729</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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