Fundamentals of force feedback and application to a surgery simulator.
Identifieur interne : 001962 ( PubMed/Corpus ); précédent : 001961; suivant : 001963Fundamentals of force feedback and application to a surgery simulator.
Auteurs : Heiko Maass ; Benjamin B A. Chantier ; Hueseyin K. Cakmak ; Christos Trantakis ; Uwe G. KuehnapfelSource :
- Computer aided surgery : official journal of the International Society for Computer Aided Surgery [ 1092-9088 ] ; 2003.
English descriptors
- KwdEn :
- MESH :
Abstract
Force feedback increases the effectiveness of virtual-reality surgery training systems. An overview of the fundamentals of applying force feedback is presented. An impedance control technique and data processing methods for stability preservation are illustrated. A flexible interface for general force-feedback applications has been developed. This interface is capable of controlling several different force-feedback hardware systems, including the SensAble PHANTOM, the Laparoscopic Impulse Engines from Immersion, and the VS-One virtual endoscopic surgery trainer. The findings are evaluated using the main simulation system, KISMET, and the modeling tools KISMO and VESUV. Within the scope of a cooperative project called HapticIO (funded by the German Ministry of Education and Research [BMBF]), new haptic devices have been designed for virtual neuroendoscopy and laparoscopy. The concept and implementations presented in this paper have been found to be flexible, stable and suitable for universal use. The impedance method, combined with the open-loop feed-forward control technique, is well suited and appropriate for the task.
PubMed: 15742665
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pubmed:15742665Le document en format XML
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<author><name sortKey="Maass, Heiko" sort="Maass, Heiko" uniqKey="Maass H" first="Heiko" last="Maass">Heiko Maass</name>
<affiliation><nlm:affiliation>Institut für Angewandte Informatik, Forschungszentrum Karlsruhe, Karlsruhe, Germany. maass@iai.fzk.de</nlm:affiliation>
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<author><name sortKey="Chantier, Benjamin B A" sort="Chantier, Benjamin B A" uniqKey="Chantier B" first="Benjamin B A" last="Chantier">Benjamin B A. Chantier</name>
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<author><name sortKey="Cakmak, Hueseyin K" sort="Cakmak, Hueseyin K" uniqKey="Cakmak H" first="Hueseyin K" last="Cakmak">Hueseyin K. Cakmak</name>
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<author><name sortKey="Trantakis, Christos" sort="Trantakis, Christos" uniqKey="Trantakis C" first="Christos" last="Trantakis">Christos Trantakis</name>
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<author><name sortKey="Kuehnapfel, Uwe G" sort="Kuehnapfel, Uwe G" uniqKey="Kuehnapfel U" first="Uwe G" last="Kuehnapfel">Uwe G. Kuehnapfel</name>
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<author><name sortKey="Cakmak, Hueseyin K" sort="Cakmak, Hueseyin K" uniqKey="Cakmak H" first="Hueseyin K" last="Cakmak">Hueseyin K. Cakmak</name>
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<author><name sortKey="Kuehnapfel, Uwe G" sort="Kuehnapfel, Uwe G" uniqKey="Kuehnapfel U" first="Uwe G" last="Kuehnapfel">Uwe G. Kuehnapfel</name>
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<series><title level="j">Computer aided surgery : official journal of the International Society for Computer Aided Surgery</title>
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<term>Humans</term>
<term>Neurosurgical Procedures (methods)</term>
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<keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Endoscopy</term>
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<front><div type="abstract" xml:lang="en">Force feedback increases the effectiveness of virtual-reality surgery training systems. An overview of the fundamentals of applying force feedback is presented. An impedance control technique and data processing methods for stability preservation are illustrated. A flexible interface for general force-feedback applications has been developed. This interface is capable of controlling several different force-feedback hardware systems, including the SensAble PHANTOM, the Laparoscopic Impulse Engines from Immersion, and the VS-One virtual endoscopic surgery trainer. The findings are evaluated using the main simulation system, KISMET, and the modeling tools KISMO and VESUV. Within the scope of a cooperative project called HapticIO (funded by the German Ministry of Education and Research [BMBF]), new haptic devices have been designed for virtual neuroendoscopy and laparoscopy. The concept and implementations presented in this paper have been found to be flexible, stable and suitable for universal use. The impedance method, combined with the open-loop feed-forward control technique, is well suited and appropriate for the task.</div>
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<Abstract><AbstractText>Force feedback increases the effectiveness of virtual-reality surgery training systems. An overview of the fundamentals of applying force feedback is presented. An impedance control technique and data processing methods for stability preservation are illustrated. A flexible interface for general force-feedback applications has been developed. This interface is capable of controlling several different force-feedback hardware systems, including the SensAble PHANTOM, the Laparoscopic Impulse Engines from Immersion, and the VS-One virtual endoscopic surgery trainer. The findings are evaluated using the main simulation system, KISMET, and the modeling tools KISMO and VESUV. Within the scope of a cooperative project called HapticIO (funded by the German Ministry of Education and Research [BMBF]), new haptic devices have been designed for virtual neuroendoscopy and laparoscopy. The concept and implementations presented in this paper have been found to be flexible, stable and suitable for universal use. The impedance method, combined with the open-loop feed-forward control technique, is well suited and appropriate for the task.</AbstractText>
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