HapticV1, PascalFrancis, Corpus, bibRecord, 000C49

A 4-dof haptic device for hysteroscopy simulation

Identifieur interne : 000C49 ( PascalFrancis/Corpus ); précédent : 000C48; suivant : 000C50

A 4-dof haptic device for hysteroscopy simulation

Auteurs : U. Spaelter ; Th. Moix ; D. Ilic ; H. Bleuler ; M. Bajka

Source :

RBID : Pascal:06-0459749

Descripteurs français

Pascal (Inist)
- Rétroaction, Homme, Sensibilité tactile, Chirurgie, Réalité virtuelle, Simulateur, Main, Coordination, Mécanisme sphérique, Inertie, Insertion, Cinématique, ..

English descriptors

KwdEn :
- Coordination, Feedback regulation, Hand, Human, Inertia, Insertion, Kinematics, Simulator, Spherical mechanism, Surgery, Tactile sensitivity, Virtual reality.

Abstract

In minimal-invasive surgery surgeons are generally confronted with complex scenarii and sometimes they have to overcome unexpected pathologies or life-threatening injuries. Therefore there is a demand for realistic training without risk to the patient. Since a decade ago there have been research activities on virtual reality surgery simulators with haptic feedback with the goal to provide an alternative to traditional training methods on animals or cadavers. Haptic feedback is a key feature for every surgery stimulator for the training of hand-eye coordination. In this paper a 4-dof haptic device is presented for hysteroscopy, the examination and treatment of the uterine cavity through the vagina. Specifications are presented, and kinematics as well as force transmission are analyzed. The realized prototype, result of a systematic design process, is based on a 2-dof spherical manipulator with low inertia and a 2-dof serial extension, which allows the use of slightly adapted original instruments. With difference to common surgery simulators tool insertion and complete removal can be performed. The performance of the prototype is shortly discussed.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 A 4-dof haptic device for hysteroscopy simulation`
A09	`01`	`1`	`ENG`	`@1 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 28 September - 2 October, 2004, Sendai, Japan : proceedings`
A11	`01`	`1`		`@1 SPAELTER (U.)`
A11	`02`	`1`		`@1 MOIX (Th.)`
A11	`03`	`1`		`@1 ILIC (D.)`
A11	`04`	`1`		`@1 BLEULER (H.)`
A11	`05`	`1`		`@1 BAJKA (M.)`
A14	`01`			`@1 Laboratoire de Systèmes Robotiques Federal Institute of Technology Lausanne (EPFL) @3 CHE @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut.`
A14	`02`			`@1 Clinic of Gynaecology Dept. OB/GYN University Hospital of Zurich @3 CHE @Z 5 aut.`
A18	`01`	`1`		`@1 Institute of Electrical and Electronics Engineers @3 USA @9 org-cong.`
A18	`02`	`1`		`@1 Robotics Society of Japan @3 JPN @9 org-cong.`
A18	`03`	`1`		`@1 IEEE Robotics and Automation Society @3 USA @9 org-cong.`
A20				`@2 vol 4, 3257-3263`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8463-6`
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A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 18 ref.`
A47	`01`	`1`		`@0 06-0459749`
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C01	`01`		`ENG`	@0 In minimal-invasive surgery surgeons are generally confronted with complex scenarii and sometimes they have to overcome unexpected pathologies or life-threatening injuries. Therefore there is a demand for realistic training without risk to the patient. Since a decade ago there have been research activities on virtual reality surgery simulators with haptic feedback with the goal to provide an alternative to traditional training methods on animals or cadavers. Haptic feedback is a key feature for every surgery stimulator for the training of hand-eye coordination. In this paper a 4-dof haptic device is presented for hysteroscopy, the examination and treatment of the uterine cavity through the vagina. Specifications are presented, and kinematics as well as force transmission are analyzed. The realized prototype, result of a systematic design process, is based on a 2-dof spherical manipulator with low inertia and a 2-dof serial extension, which allows the use of slightly adapted original instruments. With difference to common surgery simulators tool insertion and complete removal can be performed. The performance of the prototype is shortly discussed.
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C03	`01`	`X`	`FRE`	`@0 Rétroaction @5 06`
C03	`01`	`X`	`ENG`	`@0 Feedback regulation @5 06`
C03	`01`	`X`	`SPA`	`@0 Retroacción @5 06`
C03	`02`	`X`	`FRE`	`@0 Homme @5 07`
C03	`02`	`X`	`ENG`	`@0 Human @5 07`
C03	`02`	`X`	`SPA`	`@0 Hombre @5 07`
C03	`03`	`X`	`FRE`	`@0 Sensibilité tactile @5 18`
C03	`03`	`X`	`ENG`	`@0 Tactile sensitivity @5 18`
C03	`03`	`X`	`SPA`	`@0 Sensibilidad tactil @5 18`
C03	`04`	`X`	`FRE`	`@0 Chirurgie @5 19`
C03	`04`	`X`	`ENG`	`@0 Surgery @5 19`
C03	`04`	`X`	`SPA`	`@0 Cirugía @5 19`
C03	`05`	`X`	`FRE`	`@0 Réalité virtuelle @5 20`
C03	`05`	`X`	`ENG`	`@0 Virtual reality @5 20`
C03	`05`	`X`	`SPA`	`@0 Realidad virtual @5 20`
C03	`06`	`X`	`FRE`	`@0 Simulateur @5 21`
C03	`06`	`X`	`ENG`	`@0 Simulator @5 21`
C03	`06`	`X`	`SPA`	`@0 Simulador @5 21`
C03	`07`	`X`	`FRE`	`@0 Main @5 22`
C03	`07`	`X`	`ENG`	`@0 Hand @5 22`
C03	`07`	`X`	`SPA`	`@0 Mano @5 22`
C03	`08`	`X`	`FRE`	`@0 Coordination @5 23`
C03	`08`	`X`	`ENG`	`@0 Coordination @5 23`
C03	`08`	`X`	`SPA`	`@0 Coordinación @5 23`
C03	`09`	`X`	`FRE`	`@0 Mécanisme sphérique @5 24`
C03	`09`	`X`	`ENG`	`@0 Spherical mechanism @5 24`
C03	`09`	`X`	`SPA`	`@0 Mecanismo esférico @5 24`
C03	`10`	`X`	`FRE`	`@0 Inertie @5 25`
C03	`10`	`X`	`ENG`	`@0 Inertia @5 25`
C03	`10`	`X`	`SPA`	`@0 Inercia @5 25`
C03	`11`	`X`	`FRE`	`@0 Insertion @5 26`
C03	`11`	`X`	`ENG`	`@0 Insertion @5 26`
C03	`11`	`X`	`SPA`	`@0 Inserción @5 26`
C03	`12`	`X`	`FRE`	`@0 Cinématique @5 28`
C03	`12`	`X`	`ENG`	`@0 Kinematics @5 28`
C03	`12`	`X`	`SPA`	`@0 Cinemática @5 28`
C03	`13`	`X`	`FRE`	`@0 . @4 INC @5 82`
N21				`@1 303`
N44	`01`			`@1 OTO`
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Format Inist (serveur)

NO :	PASCAL 06-0459749 INIST
ET :	A 4-dof haptic device for hysteroscopy simulation
AU :	SPAELTER (U.); MOIX (Th.); ILIC (D.); BLEULER (H.); BAJKA (M.)
AF :	Laboratoire de Systèmes Robotiques Federal Institute of Technology Lausanne (EPFL)/Suisse (1 aut., 2 aut., 3 aut., 4 aut.); Clinic of Gynaecology Dept. OB/GYN University Hospital of Zurich/Suisse (5 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE/RSJ International Conference on Intelligent Robots and Systems/2004/Sendai JPN; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; vol 4, 3257-3263; ISBN 0-7803-8463-6
LA :	Anglais
EA :	In minimal-invasive surgery surgeons are generally confronted with complex scenarii and sometimes they have to overcome unexpected pathologies or life-threatening injuries. Therefore there is a demand for realistic training without risk to the patient. Since a decade ago there have been research activities on virtual reality surgery simulators with haptic feedback with the goal to provide an alternative to traditional training methods on animals or cadavers. Haptic feedback is a key feature for every surgery stimulator for the training of hand-eye coordination. In this paper a 4-dof haptic device is presented for hysteroscopy, the examination and treatment of the uterine cavity through the vagina. Specifications are presented, and kinematics as well as force transmission are analyzed. The realized prototype, result of a systematic design process, is based on a 2-dof spherical manipulator with low inertia and a 2-dof serial extension, which allows the use of slightly adapted original instruments. With difference to common surgery simulators tool insertion and complete removal can be performed. The performance of the prototype is shortly discussed.
CC :	001D02B04; 001D02D
FD :	Rétroaction; Homme; Sensibilité tactile; Chirurgie; Réalité virtuelle; Simulateur; Main; Coordination; Mécanisme sphérique; Inertie; Insertion; Cinématique; .
ED :	Feedback regulation; Human; Tactile sensitivity; Surgery; Virtual reality; Simulator; Hand; Coordination; Spherical mechanism; Inertia; Insertion; Kinematics
SD :	Retroacción; Hombre; Sensibilidad tactil; Cirugía; Realidad virtual; Simulador; Mano; Coordinación; Mecanismo esférico; Inercia; Inserción; Cinemática
LO :	INIST-Y 38917.354000153490965290
ID :	06-0459749

Links to Exploration step

Pascal:06-0459749

Le document en format XML

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<front><div type="abstract" xml:lang="en">In minimal-invasive surgery surgeons are generally confronted with complex scenarii and sometimes they have to overcome unexpected pathologies or life-threatening injuries. Therefore there is a demand for realistic training without risk to the patient. Since a decade ago there have been research activities on virtual reality surgery simulators with haptic feedback with the goal to provide an alternative to traditional training methods on animals or cadavers. Haptic feedback is a key feature for every surgery stimulator for the training of hand-eye coordination. In this paper a 4-dof haptic device is presented for hysteroscopy, the examination and treatment of the uterine cavity through the vagina. Specifications are presented, and kinematics as well as force transmission are analyzed. The realized prototype, result of a systematic design process, is based on a 2-dof spherical manipulator with low inertia and a 2-dof serial extension, which allows the use of slightly adapted original instruments. With difference to common surgery simulators tool insertion and complete removal can be performed. The performance of the prototype is shortly discussed.</div>
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<s5>23</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Coordinación</s0>
<s5>23</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Mécanisme sphérique</s0>
<s5>24</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Spherical mechanism</s0>
<s5>24</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Mecanismo esférico</s0>
<s5>24</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Inertie</s0>
<s5>25</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Inertia</s0>
<s5>25</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Inercia</s0>
<s5>25</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Insertion</s0>
<s5>26</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Insertion</s0>
<s5>26</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Inserción</s0>
<s5>26</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Cinématique</s0>
<s5>28</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Kinematics</s0>
<s5>28</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Cinemática</s0>
<s5>28</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>.</s0>
<s4>INC</s4>
<s5>82</s5>
</fC03>
<fN21><s1>303</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 06-0459749 INIST</NO>
<ET>A 4-dof haptic device for hysteroscopy simulation</ET>
<AU>SPAELTER (U.); MOIX (Th.); ILIC (D.); BLEULER (H.); BAJKA (M.)</AU>
<AF>Laboratoire de Systèmes Robotiques Federal Institute of Technology Lausanne (EPFL)/Suisse (1 aut., 2 aut., 3 aut., 4 aut.); Clinic of Gynaecology Dept. OB/GYN University Hospital of Zurich/Suisse (5 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE/RSJ International Conference on Intelligent Robots and Systems/2004/Sendai JPN; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; vol 4, 3257-3263; ISBN 0-7803-8463-6</SO>
<LA>Anglais</LA>
<EA>In minimal-invasive surgery surgeons are generally confronted with complex scenarii and sometimes they have to overcome unexpected pathologies or life-threatening injuries. Therefore there is a demand for realistic training without risk to the patient. Since a decade ago there have been research activities on virtual reality surgery simulators with haptic feedback with the goal to provide an alternative to traditional training methods on animals or cadavers. Haptic feedback is a key feature for every surgery stimulator for the training of hand-eye coordination. In this paper a 4-dof haptic device is presented for hysteroscopy, the examination and treatment of the uterine cavity through the vagina. Specifications are presented, and kinematics as well as force transmission are analyzed. The realized prototype, result of a systematic design process, is based on a 2-dof spherical manipulator with low inertia and a 2-dof serial extension, which allows the use of slightly adapted original instruments. With difference to common surgery simulators tool insertion and complete removal can be performed. The performance of the prototype is shortly discussed.</EA>
<CC>001D02B04; 001D02D</CC>
<FD>Rétroaction; Homme; Sensibilité tactile; Chirurgie; Réalité virtuelle; Simulateur; Main; Coordination; Mécanisme sphérique; Inertie; Insertion; Cinématique; .</FD>
<ED>Feedback regulation; Human; Tactile sensitivity; Surgery; Virtual reality; Simulator; Hand; Coordination; Spherical mechanism; Inertia; Insertion; Kinematics</ED>
<SD>Retroacción; Hombre; Sensibilidad tactil; Cirugía; Realidad virtual; Simulador; Mano; Coordinación; Mecanismo esférico; Inercia; Inserción; Cinemática</SD>
<LO>INIST-Y 38917.354000153490965290</LO>
<ID>06-0459749</ID>
</server>
</inist>
</record>

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A 4-dof haptic device for hysteroscopy simulation

A 4-dof haptic device for hysteroscopy simulation

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