Journal ArticleDOI
Measurement, analysis, and display of haptic signals during surgical cutting
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TLDR
Experiments demonstrated that human subjects could identify tissues with similar accuracy when performing a real or simulated cutting task, and the use of haptic recordings to generate the simulations was simple and efficient, but it lacked flexibility because only the information obtained during data acquisition could be displayed.Abstract:
The forces experienced while surgically cutting anatomical tissues from a sheep and two rats were investigated for three scissor types. Data were collected in situ using instrumented Mayo, Metzenbaum anc Iris scissors immediately after death to minimize postmortem effects. The force-position relationship, the frequency components presens in the signal, the significance of the cutting rate. and other invariant properties were investigated after segmentation of the data into distinct task phases. Measurements were found to be independent of the cutting speed for Mayo and Metzenbaum scissors, but the results for Iris scissors were inconclusive. Sensitivity to cutting tissues longitudinally or transversely depended on both the tissue and on the scissor type. Data from cutting three tissues (rat skin, liver, and tendon) with Metzenbaum scissors as well as blank runs were processed and displayed as haptic recordings through a custom-designed haptic interface. Experiments demonstrated that human subjects could identify tissues with similar accuracy when performing a real or simulated cutting task. The use of haptic recordings to generate the simulations was simple and efficient, but it lacked flexibility because only the information obtained during data acquisition could be displayed. Future experiments should account for the user grip, tissue thickness, tissue moisture content, hand orientation, and innate scissor dynamics. A database of the collected signals has been created on the Internet for public use at www.cim.mcgill.ca/~haptic/tissue/data.html.read more
Citations
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Journal ArticleDOI
Haptics in minimally invasive surgical simulation and training
TL;DR: This work discusses important aspects of haptics in MISST, such as haptic rendering and haptic recording and playback, and discusses the importance of net forces resulting from tool-tissue interactions in surgery.
Journal ArticleDOI
Biomechanical Properties of Abdominal Organs In Vivo and Postmortem Under Compression Loads
TL;DR: A quantitative understanding of how the unconditioned tissue properties and model parameters are influenced by time postmortem and loading condition has been obtained and a property database-unique to the literature-has been created that contains the average elastic and relaxation model parameters measured for these tissues in vivo and postmortem.
BookDOI
Haptic Rendering : Foundations, Algorithms, and Applications
Ming C. Lin,Miguel A. Otaduy +1 more
TL;DR: This book provides an authoritative overview of state-of-theart haptic rendering algorithms and their applications for a number of applications, including medical training, model design, and maintainability analysis for virtual prototyping, scientific visualization, and creative processes.
Proceedings ArticleDOI
The haptic scissors: cutting in virtual environments
TL;DR: Experimental results show that users cannot differentiate between these models and the haptic recordings created earlier, and the analytical model uses a combination of friction, assumed material properties, and user motion to determine the displayed cutting forces.
Proceedings ArticleDOI
A rotational micro biopsy device for the capsule endoscope
TL;DR: The micro biopsy module which is a part of the capsule endoscope is proposed and tissue samples were successfully extracted and cells in samples were extracted and tested by a microscope.
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