Virtual environments for medical training: Graphical and haptic simulation of laparoscopic common bile duct exploration
Identifieur interne : 001349 ( PascalFrancis/Corpus ); précédent : 001348; suivant : 001350Virtual environments for medical training: Graphical and haptic simulation of laparoscopic common bile duct exploration
Auteurs : Cagatay Basdogan ; Chih-Hao Ho ; Mandayam A. SrinivasanSource :
- IEEE/ASME transactions on mechatronics [ 1083-4435 ] ; 2001.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
We have developed a computer-based training system to simulate laparoscopic procedures in virtual environments (VEs) for medical training. The major hardware components of our system include a computer monitor to display visual interactions between three-dimensional (3-D) virtual models of organs and instruments together with a pair of force feedback devices interfaced with laparoscopic instruments to simulate haptic interactions. In order to demonstrate the practical utility of the training system, we have chosen to simulate a surgical procedure that involves inserting a catheter into the cystic duct using a pair of laparoscopic forceps. This procedure is performed during laparoscopic cholecystectomy (gallbladder removal) to search for gallstones in the common bile duct. Using the proposed system, the user can be trained to grasp and insert a flexible and freely moving catheter into the deformable cystic duct in virtual environments. As the catheter and the duct are manipulated via simulated laparoscopic forceps, the associated deformations are displayed on the computer screen and the reaction forces are fed back to the user through the force feedback devices. A hybrid modeling approach was developed to simulate the real-time visual and haptic interactions that take place between the forceps and the catheter, as well as the duct; and between the catheter and the duct. This approach combines a finite element model and a particle model to simulate the flexible dynamics of the duct and the catheter, respectively. To simulate the deformable dynamics of the duct in real-time using finite element procedures, a modal analysis approach was implemented such that only the most significant vibration modes of the duct were selected to compute the deformations and the interaction forces. The catheter was modeled using a set of virtual particles that were uniformly distributed along the centerline of catheter and connected to each other via linear and torsional springs and damping elements. In order to convey to the user a sense of touching and manipulating deformable objects through force feedback devices, two haptic interaction techniques that we have developed before were employed. The interactions between the particles of the catheter and the duct were simulated using a point-based haptic interaction technique. The interactions between the forceps and the duct as well as the catheter were simulated using the ray-based haptic interaction technique where the laparoscopic forceps were modeled as connected line segments.
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Format Inist (serveur)
| NO : | PASCAL 01-0484555 CRAN |
|---|---|
| ET : | Virtual environments for medical training: Graphical and haptic simulation of laparoscopic common bile duct exploration |
| AU : | BASDOGAN (Cagatay); HO (Chih-Hao); SRINIVASAN (Mandayam A.) |
| AF : | Laboratory for Human and Machine Haptics, Research Laboratory of Electronics, Massachusetts Institute of Technology/Cambridge, MA 02139/Etats-Unis (1 aut., 2 aut., 3 aut.); Jet Propulsion Laboratory, California Institute of Technology/Pasadena, CA 91109/Etats-Unis (1 aut.) |
| DT : | Publication en série; Niveau analytique |
| SO : | IEEE/ASME transactions on mechatronics; ISSN 1083-4435; Etats-Unis; Da. 2001; Vol. 6; No. 3; Pp. 269-285; Bibl. 42 ref. |
| LA : | Anglais |
| EA : | We have developed a computer-based training system to simulate laparoscopic procedures in virtual environments (VEs) for medical training. The major hardware components of our system include a computer monitor to display visual interactions between three-dimensional (3-D) virtual models of organs and instruments together with a pair of force feedback devices interfaced with laparoscopic instruments to simulate haptic interactions. In order to demonstrate the practical utility of the training system, we have chosen to simulate a surgical procedure that involves inserting a catheter into the cystic duct using a pair of laparoscopic forceps. This procedure is performed during laparoscopic cholecystectomy (gallbladder removal) to search for gallstones in the common bile duct. Using the proposed system, the user can be trained to grasp and insert a flexible and freely moving catheter into the deformable cystic duct in virtual environments. As the catheter and the duct are manipulated via simulated laparoscopic forceps, the associated deformations are displayed on the computer screen and the reaction forces are fed back to the user through the force feedback devices. A hybrid modeling approach was developed to simulate the real-time visual and haptic interactions that take place between the forceps and the catheter, as well as the duct; and between the catheter and the duct. This approach combines a finite element model and a particle model to simulate the flexible dynamics of the duct and the catheter, respectively. To simulate the deformable dynamics of the duct in real-time using finite element procedures, a modal analysis approach was implemented such that only the most significant vibration modes of the duct were selected to compute the deformations and the interaction forces. The catheter was modeled using a set of virtual particles that were uniformly distributed along the centerline of catheter and connected to each other via linear and torsional springs and damping elements. In order to convey to the user a sense of touching and manipulating deformable objects through force feedback devices, two haptic interaction techniques that we have developed before were employed. The interactions between the particles of the catheter and the duct were simulated using a point-based haptic interaction technique. The interactions between the forceps and the duct as well as the catheter were simulated using the ray-based haptic interaction technique where the laparoscopic forceps were modeled as connected line segments. |
| CC : | 001D02D11; 002B25G03 |
| FD : | Homme; Chirurgie; Coeliochirurgie; Calcul biliaire; Enseignement assisté ordinateur; Téléopération; Interface utilisateur; Préhension; Sensibilité tactile; Réalité virtuelle; Temps réel; Corps déformable; Méthode élément fini |
| ED : | Human; Surgery; Laparoscopic surgery; Biliary stone; Computer assisted teaching; Remote operation; User interface; Gripping; Tactile sensitivity; Virtual reality; Real time; Deformable body; Finite element method |
| SD : | Hombre; Cirugía; Cirugía laparoscopica; Cálculo biliar; Enseñanza asistida por computador; Teleacción; Interfase usuario; Prension; Sensibilidad tactil; Realidad virtual; Tiempo real; Cuerpo deformable; Método elemento finito |
| LO : | INIST-26423 |
| ID : | 01-0484555 |
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Virtual environments for medical training: Graphical and haptic simulation of laparoscopic common bile duct exploration</title><author><name sortKey="Basdogan, Cagatay" sort="Basdogan, Cagatay" uniqKey="Basdogan C" first="Cagatay" last="Basdogan">Cagatay Basdogan</name><affiliation><inist:fA14 i1="01"><s1>Laboratory for Human and Machine Haptics, Research Laboratory of Electronics, Massachusetts Institute of Technology</s1><s2>Cambridge, MA 02139</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14></affiliation><affiliation><inist:fA14 i1="02"><s1>Jet Propulsion Laboratory, California Institute of Technology</s1><s2>Pasadena, CA 91109</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14></affiliation></author><author><name sortKey="Ho, Chih Hao" sort="Ho, Chih Hao" uniqKey="Ho C" first="Chih-Hao" last="Ho">Chih-Hao Ho</name><affiliation><inist:fA14 i1="01"><s1>Laboratory for Human and Machine Haptics, Research Laboratory of Electronics, Massachusetts Institute of Technology</s1><s2>Cambridge, MA 02139</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14></affiliation></author><author><name sortKey="Srinivasan, Mandayam A" sort="Srinivasan, Mandayam A" uniqKey="Srinivasan M" first="Mandayam A." last="Srinivasan">Mandayam A. Srinivasan</name><affiliation><inist:fA14 i1="01"><s1>Laboratory for Human and Machine Haptics, Research Laboratory of Electronics, Massachusetts Institute of Technology</s1><s2>Cambridge, MA 02139</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">01-0484555</idno><date when="2001">2001</date><idno type="stanalyst">PASCAL 01-0484555 CRAN</idno><idno type="RBID">Pascal:01-0484555</idno><idno type="wicri:Area/PascalFrancis/Corpus">001349</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Virtual environments for medical training: Graphical and haptic simulation of laparoscopic common bile duct exploration</title><author><name sortKey="Basdogan, Cagatay" sort="Basdogan, Cagatay" uniqKey="Basdogan C" first="Cagatay" last="Basdogan">Cagatay Basdogan</name><affiliation><inist:fA14 i1="01"><s1>Laboratory for Human and Machine Haptics, Research Laboratory of Electronics, Massachusetts Institute of Technology</s1><s2>Cambridge, MA 02139</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14></affiliation><affiliation><inist:fA14 i1="02"><s1>Jet Propulsion Laboratory, California Institute of Technology</s1><s2>Pasadena, CA 91109</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14></affiliation></author><author><name sortKey="Ho, Chih Hao" sort="Ho, Chih Hao" uniqKey="Ho C" first="Chih-Hao" last="Ho">Chih-Hao Ho</name><affiliation><inist:fA14 i1="01"><s1>Laboratory for Human and Machine Haptics, Research Laboratory of Electronics, Massachusetts Institute of Technology</s1><s2>Cambridge, MA 02139</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14></affiliation></author><author><name sortKey="Srinivasan, Mandayam A" sort="Srinivasan, Mandayam A" uniqKey="Srinivasan M" first="Mandayam A." last="Srinivasan">Mandayam A. Srinivasan</name><affiliation><inist:fA14 i1="01"><s1>Laboratory for Human and Machine Haptics, Research Laboratory of Electronics, Massachusetts Institute of Technology</s1><s2>Cambridge, MA 02139</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14></affiliation></author></analytic><series><title level="j" type="main">IEEE/ASME transactions on mechatronics</title><title level="j" type="abbreviated">IEEE/ASME trans. mechatron.</title><idno type="ISSN">1083-4435</idno><imprint><date when="2001">2001</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE/ASME transactions on mechatronics</title><title level="j" type="abbreviated">IEEE/ASME trans. mechatron.</title><idno type="ISSN">1083-4435</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Biliary stone</term><term>Computer assisted teaching</term><term>Deformable body</term><term>Finite element method</term><term>Gripping</term><term>Human</term><term>Laparoscopic surgery</term><term>Real time</term><term>Remote operation</term><term>Surgery</term><term>Tactile sensitivity</term><term>User interface</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Homme</term><term>Chirurgie</term><term>Coeliochirurgie</term><term>Calcul biliaire</term><term>Enseignement assisté ordinateur</term><term>Téléopération</term><term>Interface utilisateur</term><term>Préhension</term><term>Sensibilité tactile</term><term>Réalité virtuelle</term><term>Temps réel</term><term>Corps déformable</term><term>Méthode élément fini</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">We have developed a computer-based training system to simulate laparoscopic procedures in virtual environments (VEs) for medical training. The major hardware components of our system include a computer monitor to display visual interactions between three-dimensional (3-D) virtual models of organs and instruments together with a pair of force feedback devices interfaced with laparoscopic instruments to simulate haptic interactions. In order to demonstrate the practical utility of the training system, we have chosen to simulate a surgical procedure that involves inserting a catheter into the cystic duct using a pair of laparoscopic forceps. This procedure is performed during laparoscopic cholecystectomy (gallbladder removal) to search for gallstones in the common bile duct. Using the proposed system, the user can be trained to grasp and insert a flexible and freely moving catheter into the deformable cystic duct in virtual environments. As the catheter and the duct are manipulated via simulated laparoscopic forceps, the associated deformations are displayed on the computer screen and the reaction forces are fed back to the user through the force feedback devices. A hybrid modeling approach was developed to simulate the real-time visual and haptic interactions that take place between the forceps and the catheter, as well as the duct; and between the catheter and the duct. This approach combines a finite element model and a particle model to simulate the flexible dynamics of the duct and the catheter, respectively. To simulate the deformable dynamics of the duct in real-time using finite element procedures, a modal analysis approach was implemented such that only the most significant vibration modes of the duct were selected to compute the deformations and the interaction forces. The catheter was modeled using a set of virtual particles that were uniformly distributed along the centerline of catheter and connected to each other via linear and torsional springs and damping elements. In order to convey to the user a sense of touching and manipulating deformable objects through force feedback devices, two haptic interaction techniques that we have developed before were employed. The interactions between the particles of the catheter and the duct were simulated using a point-based haptic interaction technique. The interactions between the forceps and the duct as well as the catheter were simulated using the ray-based haptic interaction technique where the laparoscopic forceps were modeled as connected line segments.</div></front></TEI><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>1083-4435</s0></fA01><fA03 i2="1"><s0>IEEE/ASME trans. mechatron.</s0></fA03><fA05><s2>6</s2></fA05><fA06><s2>3</s2></fA06><fA08 i1="01" i2="1" l="ENG"><s1>Virtual environments for medical training: Graphical and haptic simulation of laparoscopic common bile duct exploration</s1></fA08><fA11 i1="01" i2="1"><s1>BASDOGAN (Cagatay)</s1></fA11><fA11 i1="02" i2="1"><s1>HO (Chih-Hao)</s1></fA11><fA11 i1="03" i2="1"><s1>SRINIVASAN (Mandayam A.)</s1></fA11><fA14 i1="01"><s1>Laboratory for Human and Machine Haptics, Research Laboratory of Electronics, Massachusetts Institute of Technology</s1><s2>Cambridge, MA 02139</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></fA14><fA14 i1="02"><s1>Jet Propulsion Laboratory, California Institute of Technology</s1><s2>Pasadena, CA 91109</s2><s3>USA</s3><sZ>1 aut.</sZ></fA14><fA20><s1>269-285</s1></fA20><fA21><s1>2001</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA43 i1="01"><s1>INIST</s1><s2>26423</s2></fA43><fA44><s0>A300</s0></fA44><fA45><s0>42 ref.</s0></fA45><fA47 i1="01" i2="1"><s0>01-0484555</s0></fA47><fA60><s1>P</s1></fA60><fA61><s0>A</s0></fA61><fA64 i1="01" i2="1"><s0>IEEE/ASME transactions on mechatronics</s0></fA64><fA66 i1="01"><s0>USA</s0></fA66><fC01 i1="01" l="ENG"><s0>We have developed a computer-based training system to simulate laparoscopic procedures in virtual environments (VEs) for medical training. The major hardware components of our system include a computer monitor to display visual interactions between three-dimensional (3-D) virtual models of organs and instruments together with a pair of force feedback devices interfaced with laparoscopic instruments to simulate haptic interactions. In order to demonstrate the practical utility of the training system, we have chosen to simulate a surgical procedure that involves inserting a catheter into the cystic duct using a pair of laparoscopic forceps. This procedure is performed during laparoscopic cholecystectomy (gallbladder removal) to search for gallstones in the common bile duct. Using the proposed system, the user can be trained to grasp and insert a flexible and freely moving catheter into the deformable cystic duct in virtual environments. As the catheter and the duct are manipulated via simulated laparoscopic forceps, the associated deformations are displayed on the computer screen and the reaction forces are fed back to the user through the force feedback devices. A hybrid modeling approach was developed to simulate the real-time visual and haptic interactions that take place between the forceps and the catheter, as well as the duct; and between the catheter and the duct. This approach combines a finite element model and a particle model to simulate the flexible dynamics of the duct and the catheter, respectively. To simulate the deformable dynamics of the duct in real-time using finite element procedures, a modal analysis approach was implemented such that only the most significant vibration modes of the duct were selected to compute the deformations and the interaction forces. The catheter was modeled using a set of virtual particles that were uniformly distributed along the centerline of catheter and connected to each other via linear and torsional springs and damping elements. In order to convey to the user a sense of touching and manipulating deformable objects through force feedback devices, two haptic interaction techniques that we have developed before were employed. The interactions between the particles of the catheter and the duct were simulated using a point-based haptic interaction technique. The interactions between the forceps and the duct as well as the catheter were simulated using the ray-based haptic interaction technique where the laparoscopic forceps were modeled as connected line segments.</s0></fC01><fC02 i1="01" i2="X"><s0>001D02D11</s0></fC02><fC02 i1="02" i2="X"><s0>002B25G03</s0></fC02><fC03 i1="01" i2="X" l="FRE"><s0>Homme</s0><s5>01</s5></fC03><fC03 i1="01" i2="X" l="ENG"><s0>Human</s0><s5>01</s5></fC03><fC03 i1="01" i2="X" l="SPA"><s0>Hombre</s0><s5>01</s5></fC03><fC03 i1="02" i2="X" l="FRE"><s0>Chirurgie</s0><s5>02</s5></fC03><fC03 i1="02" i2="X" l="ENG"><s0>Surgery</s0><s5>02</s5></fC03><fC03 i1="02" i2="X" l="SPA"><s0>Cirugía</s0><s5>02</s5></fC03><fC03 i1="03" i2="X" l="FRE"><s0>Coeliochirurgie</s0><s5>03</s5></fC03><fC03 i1="03" i2="X" l="ENG"><s0>Laparoscopic surgery</s0><s5>03</s5></fC03><fC03 i1="03" i2="X" l="SPA"><s0>Cirugía laparoscopica</s0><s5>03</s5></fC03><fC03 i1="04" i2="X" l="FRE"><s0>Calcul biliaire</s0><s5>04</s5></fC03><fC03 i1="04" i2="X" l="ENG"><s0>Biliary stone</s0><s5>04</s5></fC03><fC03 i1="04" i2="X" l="SPA"><s0>Cálculo biliar</s0><s5>04</s5></fC03><fC03 i1="05" i2="X" l="FRE"><s0>Enseignement assisté ordinateur</s0><s5>05</s5></fC03><fC03 i1="05" i2="X" l="ENG"><s0>Computer assisted teaching</s0><s5>05</s5></fC03><fC03 i1="05" i2="X" l="SPA"><s0>Enseñanza asistida por computador</s0><s5>05</s5></fC03><fC03 i1="06" i2="X" l="FRE"><s0>Téléopération</s0><s5>08</s5></fC03><fC03 i1="06" i2="X" l="ENG"><s0>Remote operation</s0><s5>08</s5></fC03><fC03 i1="06" i2="X" l="SPA"><s0>Teleacción</s0><s5>08</s5></fC03><fC03 i1="07" i2="X" l="FRE"><s0>Interface utilisateur</s0><s5>09</s5></fC03><fC03 i1="07" i2="X" l="ENG"><s0>User interface</s0><s5>09</s5></fC03><fC03 i1="07" i2="X" l="SPA"><s0>Interfase usuario</s0><s5>09</s5></fC03><fC03 i1="08" i2="X" l="FRE"><s0>Préhension</s0><s5>10</s5></fC03><fC03 i1="08" i2="X" l="ENG"><s0>Gripping</s0><s5>10</s5></fC03><fC03 i1="08" i2="X" l="SPA"><s0>Prension</s0><s5>10</s5></fC03><fC03 i1="09" i2="X" l="FRE"><s0>Sensibilité tactile</s0><s5>11</s5></fC03><fC03 i1="09" i2="X" l="ENG"><s0>Tactile sensitivity</s0><s5>11</s5></fC03><fC03 i1="09" i2="X" l="SPA"><s0>Sensibilidad tactil</s0><s5>11</s5></fC03><fC03 i1="10" i2="X" l="FRE"><s0>Réalité virtuelle</s0><s5>12</s5></fC03><fC03 i1="10" i2="X" l="ENG"><s0>Virtual reality</s0><s5>12</s5></fC03><fC03 i1="10" i2="X" l="SPA"><s0>Realidad virtual</s0><s5>12</s5></fC03><fC03 i1="11" i2="X" l="FRE"><s0>Temps réel</s0><s5>13</s5></fC03><fC03 i1="11" i2="X" l="ENG"><s0>Real time</s0><s5>13</s5></fC03><fC03 i1="11" i2="X" l="SPA"><s0>Tiempo real</s0><s5>13</s5></fC03><fC03 i1="12" i2="X" l="FRE"><s0>Corps déformable</s0><s5>14</s5></fC03><fC03 i1="12" i2="X" l="ENG"><s0>Deformable body</s0><s5>14</s5></fC03><fC03 i1="12" i2="X" l="SPA"><s0>Cuerpo deformable</s0><s5>14</s5></fC03><fC03 i1="13" i2="X" l="FRE"><s0>Méthode élément fini</s0><s5>16</s5></fC03><fC03 i1="13" i2="X" l="ENG"><s0>Finite element method</s0><s5>16</s5></fC03><fC03 i1="13" i2="X" l="SPA"><s0>Método elemento finito</s0><s5>16</s5></fC03><fN21><s1>344</s1></fN21></pA></standard><server><NO>PASCAL 01-0484555 CRAN</NO><ET>Virtual environments for medical training: Graphical and haptic simulation of laparoscopic common bile duct exploration</ET><AU>BASDOGAN (Cagatay); HO (Chih-Hao); SRINIVASAN (Mandayam A.)</AU><AF>Laboratory for Human and Machine Haptics, Research Laboratory of Electronics, Massachusetts Institute of Technology/Cambridge, MA 02139/Etats-Unis (1 aut., 2 aut., 3 aut.); Jet Propulsion Laboratory, California Institute of Technology/Pasadena, CA 91109/Etats-Unis (1 aut.)</AF><DT>Publication en série; Niveau analytique</DT><SO>IEEE/ASME transactions on mechatronics; ISSN 1083-4435; Etats-Unis; Da. 2001; Vol. 6; No. 3; Pp. 269-285; Bibl. 42 ref.</SO><LA>Anglais</LA><EA>We have developed a computer-based training system to simulate laparoscopic procedures in virtual environments (VEs) for medical training. The major hardware components of our system include a computer monitor to display visual interactions between three-dimensional (3-D) virtual models of organs and instruments together with a pair of force feedback devices interfaced with laparoscopic instruments to simulate haptic interactions. In order to demonstrate the practical utility of the training system, we have chosen to simulate a surgical procedure that involves inserting a catheter into the cystic duct using a pair of laparoscopic forceps. This procedure is performed during laparoscopic cholecystectomy (gallbladder removal) to search for gallstones in the common bile duct. Using the proposed system, the user can be trained to grasp and insert a flexible and freely moving catheter into the deformable cystic duct in virtual environments. As the catheter and the duct are manipulated via simulated laparoscopic forceps, the associated deformations are displayed on the computer screen and the reaction forces are fed back to the user through the force feedback devices. A hybrid modeling approach was developed to simulate the real-time visual and haptic interactions that take place between the forceps and the catheter, as well as the duct; and between the catheter and the duct. This approach combines a finite element model and a particle model to simulate the flexible dynamics of the duct and the catheter, respectively. To simulate the deformable dynamics of the duct in real-time using finite element procedures, a modal analysis approach was implemented such that only the most significant vibration modes of the duct were selected to compute the deformations and the interaction forces. The catheter was modeled using a set of virtual particles that were uniformly distributed along the centerline of catheter and connected to each other via linear and torsional springs and damping elements. In order to convey to the user a sense of touching and manipulating deformable objects through force feedback devices, two haptic interaction techniques that we have developed before were employed. The interactions between the particles of the catheter and the duct were simulated using a point-based haptic interaction technique. The interactions between the forceps and the duct as well as the catheter were simulated using the ray-based haptic interaction technique where the laparoscopic forceps were modeled as connected line segments.</EA><CC>001D02D11; 002B25G03</CC><FD>Homme; Chirurgie; Coeliochirurgie; Calcul biliaire; Enseignement assisté ordinateur; Téléopération; Interface utilisateur; Préhension; Sensibilité tactile; Réalité virtuelle; Temps réel; Corps déformable; Méthode élément fini</FD><ED>Human; Surgery; Laparoscopic surgery; Biliary stone; Computer assisted teaching; Remote operation; User interface; Gripping; Tactile sensitivity; Virtual reality; Real time; Deformable body; Finite element method</ED><SD>Hombre; Cirugía; Cirugía laparoscopica; Cálculo biliar; Enseñanza asistida por computador; Teleacción; Interfase usuario; Prension; Sensibilidad tactil; Realidad virtual; Tiempo real; Cuerpo deformable; Método elemento finito</SD><LO>INIST-26423</LO><ID>01-0484555</ID></server></inist></record>Pour manipuler ce document sous Unix (Dilib)
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