A One-DOF Free-Hand Haptic Device for Robotic Tele-Echography
Identifieur interne : 000941 ( France/Analysis ); précédent : 000940; suivant : 000942A One-DOF Free-Hand Haptic Device for Robotic Tele-Echography
Auteurs : Maud Marchal [France] ; Jocelyne Troccaz [France]Source :
English descriptors
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Abstract
Tele-echography may be an interesting alternative to conventional care when the medical expert is not close to the patient to be examined. In a system for tele-echography, medical expert proprioception and gesture feelings must be preserved to synchronize the ultrasound images with the motion made by the physician. It is why we develop a master-slave system for robotic tele-echography integrating force feedback. Because existing haptic devices are not fully adapted to this application - their workspace is often small and their basis is fixed, we have developed a one-dimensional free-hand force feedback device. In this paper, we describe the design and a first evaluation of this new haptic device for robotic tele-echography.
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<front><div type="abstract" xml:lang="en">Tele-echography may be an interesting alternative to conventional care when the medical expert is not close to the patient to be examined. In a system for tele-echography, medical expert proprioception and gesture feelings must be preserved to synchronize the ultrasound images with the motion made by the physician. It is why we develop a master-slave system for robotic tele-echography integrating force feedback. Because existing haptic devices are not fully adapted to this application - their workspace is often small and their basis is fixed, we have developed a one-dimensional free-hand force feedback device. In this paper, we describe the design and a first evaluation of this new haptic device for robotic tele-echography.</div>
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