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.

NeuroTouch: a physics-based virtual simulator for cranial microneurosurgery training.

Abstract: Background A virtual reality neurosurgery simulator with haptic feedback may help in the training and assessment of technical skills requiring the use of tactile and visual cues. Objective To develop a simulator for craniotomy-based procedures with haptic and graphics feedback for implementation by universities and hospitals in the neurosurgery training curriculum. Methods NeuroTouch was developed by a team of more than 50 experts from the National Research Council Canada in collaboration with surgeons from more than 20 teaching hospitals across Canada. Its main components are a stereovision system, bimanual haptic tool manipulators, and a high-end computer. The simulation software engine runs 3 processes for computing graphics, haptics, and mechanics. Training tasks were built from magnetic resonance imaging scans of patients with brain tumors. Results Two training tasks were implemented for practicing skills with 3 different surgical tools. In the tumor-debulking task, the objective is complete tumor removal without removing normal tissue, using the regular surgical aspirator (suction) and the ultrasonic aspirator. The objective of the tumor cauterization task is to remove a vascularized tumor with an aspirator while controlling blood loss using bipolar electrocautery. Conclusion NeuroTouch prototypes have been set up in 7 teaching hospitals across Canada, to be used for beta testing and validation and evaluated for integration in a neurosurgery training curriculum.

Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects

Abstract: Computer haptics, an emerging field of research that is analogous to computer graphics, is concerned with the generation and rendering of haptic virtual objects. In this paper, we propose an efficient haptic rendering method for displaying the feel of 3-D polyhedral objects in virtual environments (VEs). Using this method and a haptic interface device, the users can manually explore and feel the shape and surface details of virtual objects. The main component of our rendering method is the “neighborhood watch” algorithm that takes advantage of precomputed connectivity information for detecting collisions between the end effector of a force-reflecting robot and polyhedral objects in VEs. We use a hierarchical database, multithreading techniques, and efficient search procedures to reduce the computational time such that the haptic servo rate after the first contact is essentially independent of the number of polygons that represent the object. We also propose efficient methods for displaying surface properties of objects such as haptic texture and friction. Our haptic-texturing techniques and friction model can add surface details onto convex or concave 3-D polygonal surfaces. These haptic-rendering techniques can be extended to display dynamics of rigid and deformable objects.

In touch with the future: The sense of touch from cognitive neuroscience to virtual reality

Abstract: TOUCH IN THE LABORATORY 1: INTRODUCING THE SENSE OF TOUCH 1. Introduction 2. The fundamentals of touch: The organization of the somatosensory system 3. Tactile perceptual organization TOUCH IN THE LABORATORY 2: THE HIGHER ORDER FACTORS THAT AFFECT TACTILE PERCEPTION 4. The awareness of touch 5. A memory for touch 6. Tactile attention 7. Caressing the skin: The social side of touch 8. Outside the boundaries of our bodies: The relationship between touch and the representation of the body in our mind TOUCH IN THE REAL WORLD 1: OVERCOMING THE LIMITATIONS IN TACTILE INFORMATION PROCESSING 9. Technologies of touch 10. Tactile and multisensory warning signals TOUCH IN THE REAL WORLD 2: ENHANCING THE AFFECTIVE DESIGN OF TOUCH 11. Touch in the marketplace: Selling by means of touch 12. Touch in the museum: Sculpture, art, aesthetics, and visual impairment 13. Touch in the bedroom: The role of touch in sexual behavior 14. Touch in the restaurant: A touch of gastronomy CONCLUSIONS 15. Touching the future References

Tactile Feedback Induces Reduced Grasping Force in Robot-Assisted Surgery

Abstract: Robot-assisted minimally invasive surgery has gained widespread use over the past decade, but the technique is currently operated in the absence of haptic feedback during tissue manipulation. We have developed a complete tactile feedback system, consisting of a piezoresistive force sensor, control system, and pneumatic balloon tactile display, and mounted directly onto a da Vinci surgical robotic system. To evaluate the effect of tactile feedback on robotic manipulation, a group of novices (n = 16) and experts ( n = 4) were asked to perform three blocks of peg transfer tasks with the tactile feedback system in place. Force generated at the end-effectors was measured in all three blocks, but tactile feedback was active only during the middle block. All subjects used higher force when the feedback system was inactive. When active, subjects immediately used substantially less force and still maintained appropriate grip during the task. After the system was again turned off, grip force increased significantly to prefeedback levels. These results demonstrate that robotic manipulations without tactile feedback are done with more force than needed to grasp objects. Therefore, the addition of tactile feedback allows the surgeon to grasp with less force, and may improve control of the robotic system and handling of tissues and other objects.