Haptic technology

About: Haptic technology is a research topic. Over the lifetime, 18818 publications have been published within this topic receiving 306713 citations. The topic is also known as: haptics & haptic media.

Haptic object recognition using passive joints and haptic key features

Abstract: This paper presents a novel approach for haptic object recognition with an anthropomorphic robot hand. Firstly, passive degrees of freedom are introduced to the tactile sensor system of the robot hand. This allows the planar tactile sensor patches to optimally adjust themselves to the object's surface and to acquire additional sensor information for shape reconstruction. Secondly, this paper presents an approach to classify an object directly from the haptic sensor data acquired by a palpation sequence with the robot hand - without building a 3d-model of the object. Therefore, a finite set of essential finger positions and tactile contact patterns are identified which can be used to describe a single palpation step. A palpation sequence can then be merged into a simple statistical description of the object and finally be classified. The proposed approach for haptic object recognition and the new tactile sensor system are evaluated with an anthropomorphic robot hand.

Virtual reality, telesurgery, and the new world order of medicine.

Abstract: We are seeing the emergence of medical applications for virtual reality (VR). These include telepresence surgery, three-dimensional (3-D) visualization of anatomy for medical education, VR surgical simulators, and virtual prototyping of surgical equipment and operating rooms. Today, approximately 90% of the knowledge a physician requires can be obtained through electronic means, such as diagnostic sensors and imaging modalities, directly seeing the patient with a video camera for medical consultation, or using electronic medical records. In addition, with telepresence, a therapy can be effected electronically, regardless of the physical location of the patient. Therefore, it makes sense to send the electronic information or manipulation, rather than sending the patient or blood samples, to obtain tests or to produce a cure. In that these applications are mediated through the computer interface, they are the embodiment of VR as the major force for change in the field of medicine. The Green Telepresence Surgery System consists of two components, the surgical workstation and the remote worksite. At the remote site are a 3-D camera system and responsive manipulators with sensory input. At the workstation are a 3-D monitor and dexterous handles with force feedback. The next generation in medical education can learn anatomy from a new perspective by "flying" inside and around the organs, using sophisticated computer systems and 3-D visualization. The VR surgical simulator is a stylized recreation of the human abdomen with several essential organs. Using this, students and surgeons can practice surgical procedures with virtual scalpels and clamps. To support these advanced technologies, the operating room and hospital of the future will first be designed and tested in virtual reality, allowing multiple iterations of equipment and surgical rooms before they are actually built. Insofar as all these technologies are based on digital information, they are the building blocks for the digital physician of the 21st century.

A virtual-reality training system for knee arthroscopic surgery

Abstract: Surgical training systems based on virtual-reality (VR) simulation techniques offer a cost-effective and efficient alternative to traditional training methods. This paper describes a VR system for training arthroscopic knee surgery. Virtual models used in this system are constructed from the Visual Human Project dataset. Our system simulates soft tissue deformation with topological change in real-time using finite-element analysis. To offer realistic tactile feedback, we build a tailor-made force feedback hardware.

A Novel Robot-Assisted Endovascular Catheterization System With Haptic Force Feedback

Abstract: The robot-assisted endovascular catheterization system (RAECS) has the potential to address some of the procedural challenges and separate interventionalists from the X-ray radiation during the endovascular surgery. However, the employment of robotic systems is partly changing the natural gestures and behavior of medical professionals. This paper presents a RAECS that augments surgeon's motions using the conventional catheter as well as generates the haptic force feedback to ensure surgery safety. The magnetorheological fluids based haptic interfaceexperiment is proposed to measure the actions of the operator and provide the haptic force. The slave catheter manipulator is presented to actuate the patient catheter in two degrees of freedom (radial and axial direction). In addition, a force model is provided to characterize the kinematics of the catheter intervention. Afterward, the “pseudocollision” and “real collision” are utilized to descript the catheter tip–vessel interaction. The in vitro results are presented, which demonstrate that catheter-based haptic force feedback has a benefit for improving catheterization skills as well as reducing the cognitive workload of operators.

Development of a non-grounded haptic interface using the gyro effect

Abstract: In this paper, we propose a technique capable of generating haptic sensation in a human-scale virtual reality environment or in an augmented reality environment. To realize such a large working volume and the ability to move easily within it, we have developed a non-grounded haptic interface using the gyro effect. The interface consists of a flywheel equipped with motor controlled gimbals that tilt the flywheel. We also propose three haptic rendering methods that can provide information regarding territories, target direction and trajectory. The effectiveness of our haptic interface was tested by conducting a series of experiments.