Heterogeneous Tissue Layer Deformation With Haptic Feedback

A volumetric graphics model of deformable human tissue with layers of varying stiffness was developed. The model uses spring-mass-damper to calculate haptic force feedback from various layers of tissue. A haptic epidural needle insertion simulation is developed with real-time tissue deformation when external forces are exerted. Voxelization is used to fill surface meshes with grids of spring-mass-damper assemblies. The modeled tissues include all the layers traversed during an epidural procedure, including skin, subcutaneous fat, Supraspinous and interspinous ligaments, ligamentum flavum and the epidural space. Tissue is modeled with volumetric information describing the stiffness and density of each layer. Spring-mass-damper modeling enables the calculation of compression and extension of springs between tissue masses, to simulate tissue stretching and relaxation movement. A haptic force feedback device is used to interact with the tissue model with a virtual needle. The resulting simulation gives a different feeling for each tissue layer. The haptic device allows the user to insert a needle though the modeled tissue layers feeling the various physical properties of each tissue layer during needle insertion. Tissues can be viewed in cross-section to see the progress and depth of the needle. Force feedback graphs were produced to compare the force from the operator’s thumb to the resultant force feedback from the device.

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Haptic Interface on Measured Data for Epidural Simulation

Volume 2: 32nd Computers and Information in Engineering Conference, Parts A and B ◽

10.1115/detc2012-70891 ◽

2012 ◽

Author(s):

Neil Vaughan ◽

Venketesh N. Dubey ◽

Michael Y. K. Wee ◽

Richard Isaacs

Keyword(s):

Force Feedback ◽

Development Program ◽

Needle Insertion ◽

Haptic Device ◽

Epidural Needle ◽

High Fidelity ◽

3D Graphics ◽

Tissue Layer ◽

Loss Of Resistance ◽

Force Data

This paper presents a haptic device with 3D computer graphics as part of a high fidelity medical epidural simulator development program. The haptic device is used as an input to move the needle in 3D, and also to generate force feedback to the user during insertion. A needle insertion trial was conducted on a porcine cadaver to obtain force data. The data generated from this trial was used to recreate the feeling of epidural insertion in the simulator. The interaction forces have been approximated to the resultant force obtained during the trial representing the force generated by the haptic device. The haptic device is interfaced with the 3D graphics for visualization. As the haptic stylus is moved, the needle moves on the screen and the depth of the needle tip indicates which tissue layer is being penetrated. Different forces are generated by the haptic device for each tissue layer as the epidural needle is inserted. As the needle enters the epidural space, the force drops to indicate loss of resistance.

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Design and validation of an epidural needle insertion simulator with haptic feedback for training resident anaesthesiologists

2012 IEEE Haptics Symposium (HAPTICS) ◽

10.1109/haptic.2012.6183812 ◽

2012 ◽

Cited By ~ 5

Author(s):

Vinoth Manoharan ◽

Dennis van Gerwen ◽

John J van den Dobbelsteen ◽

Jenny Dankelman

Keyword(s):

Haptic Feedback ◽

Needle Insertion ◽

Epidural Needle

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Measurement of Syringe Needle Forces for a Haptic Robotic Training Device

2017 Design of Medical Devices Conference ◽

10.1115/dmd2017-3436 ◽

2017 ◽

Cited By ~ 2

Author(s):

David Pepley ◽

Mary Yovanoff ◽

Katelin Mirkin ◽

Scarlett Miller ◽

David Han ◽

...

Keyword(s):

Force Feedback ◽

Haptic Feedback ◽

Critical Role ◽

Needle Insertion ◽

Robotic Training ◽

Insertion Force ◽

Laparoscopic Simulator ◽

Fresh Frozen ◽

Needle Insertion Force ◽

Robotic Simulator

Medical simulation plays a critical role in the training of surgical and medical residents. Training simulators give residents an environment to practice a wide variety of procedures where they can learn and make mistakes without harming a living patient [1]. In recent years, much research has been conducted on applying haptic or force feedback technology to surgical simulators in order to create more effective training devices [2]. Simulators such as the LapSim (laparoscopic simulator) and the PalpSim (palpitation needle insertion simulator) have both utilized haptic feedback arms to provide the physical sensation of performing surgical procedures to the user [3, 4]. The haptic simulator shown in Fig. 1 is currently in development. This virtual reality haptic robotic simulator for central venous catheterization (CVC) utilizes a haptic feedback arm to provide the feeling of a syringe being inserted into neck tissue [5]. Currently, there is little experimental data relating needle force to depth. To determine the forces necessary to program into the haptic robotic device, a force sensing syringe was developed and cadaver experiments were performed. This paper presents the development of a syringe which can accurately measure needle insertion force and the proceeding experiments conducted using this device on a fresh frozen cadaver. The results of these cadaver needle insertions are characterized into force profiles for needle insertion force that are implemented into the haptic based CVC simulator.

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Enhancing haptic feedback of subsurfaces during needle insertion

Current Directions in Biomedical Engineering ◽

10.1515/cdbme-2018-0150 ◽

2018 ◽

Vol 4 (1) ◽

pp. 625-628

Author(s):

Sven-Thomas Antoni ◽

Stefan Soltau ◽

Jens Beringhoff ◽

Omer Rajput ◽

Christoph Otte ◽

...

Keyword(s):

Force Feedback ◽

Haptic Feedback ◽

Needle Insertion ◽

Ultrasound Elastography ◽

Haptic Devices ◽

Needle Driver ◽

Volunteer Subject ◽

Robotic Ultrasound ◽

Subsurface Detection ◽

Limited Accuracy

AbstractHaptic feedback can be helpful for accurate needle insertion but is complicated by friction on the needle shaft. Concepts to directly measure the forces at the needle tip exist but cause additional cost and complexity. Moreover, haptic devices may show inaccuracies in recreating forces. We present a novel force feedback method that uses needle shaft forces and enhances haptic feedback of subsurfaces based on robotic ultrasound elastography. This approach allows to overcome accuracy limitations of haptic devices. We evaluate our method in a volunteer subject study using recordings from a robotic needle driver setup. We compare haptic feedback based on shaft and enhanced force for the detection of surfaces inside of gelatin phantoms. Using our method, the error of subsurface detection decreased from more than 16 to about 1.7 mm for the first subsurface. A second subsurface was solely detectable using our method with an error of only 1.4 mm. Insertion time decreased by more than 32%. The results indicate that our enhanced sensor is suitable to detect subsurfaces for untrained subjects using a haptic feedback device of limited accuracy.

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Seismic Resistance and Parametric Study of Building under Control of Impulsive Semi-Active Mass Damper

Applied Sciences ◽

10.3390/app11062468 ◽

2021 ◽

Vol 11 (6) ◽

pp. 2468

Author(s):

Ming-Hsiang Shih ◽

Wen-Pei Sung

Keyword(s):

Frequency Ratio ◽

Efficiency Index ◽

Reduction Ratio ◽

Seismic Resistance ◽

Control Effect ◽

Active Mass ◽

High Rise ◽

Mass Damper ◽

Active Mass Damper ◽

External Forces

When high-rise buildings are shaken due to external forces, the facilities of the building can be damaged. A Tuned Mass Damper (TMD) can resolve this issue, but the seismic resistance of TMD is exhausted due to the detuning effect. The Impulsive Semi-Active Mass Damper (ISAMD) is proposed with fast coupling and decoupling at the active joint between the mass and structure to overcome the detuning effect. The seismic proof effects of a high-rise building with TMD and ISAMD were compared. The numerical analysis results indicate that: (1) the reduction ratio of the maximum roof displacement response and the mean square root of the displacement reduction ratio of the building with the ISAMD were higher than 30% and 60%, respectively; (2) the sensitivity of the efficiency index to the frequency ratio of the ISAMD was very low, and detuning did not occur in the building with the ISAMD; (3) to achieve stable seismic resistance of the ISAMD, its frequency ratio should be between 2 and 4; (4) the amount of displacement of the control mass block of the ISAMD can be reduced by enhancing the stiffness of the auxiliary spring of the ISAMD; and (5) the proposed ISAMD has a stable control effect, regardless of the earthquake distance.

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Development and Testing of a Telemanipulation System With Arm and Hand Motion

10.1115/imece2000-2412 ◽

2000 ◽

Author(s):

Michael L. Turner ◽

Ryan P. Findley ◽

Weston B. Griffin ◽

Mark R. Cutkosky ◽

Daniel H. Gomez

Keyword(s):

Force Feedback ◽

Haptic Feedback ◽

Industrial Robot ◽

Robot Hand ◽

Robot Arm ◽

Task Execution ◽

Hand Motion ◽

Instrumented Glove ◽

Simple Manipulation ◽

Dexterous Robot Hand

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

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Semi-Immersive Virtual Turbine Engine Simulation System

International Journal of Turbo and Jet Engines ◽

10.1515/tjj-2017-0004 ◽

2018 ◽

Vol 35 (2) ◽

pp. 149-160 ◽

Cited By ~ 2

Author(s):

Mustufa H. Abidi ◽

Abdulrahman M. Al-Ahmari ◽

Ali Ahmad ◽

Saber Darmoul ◽

Wadea Ameen

Keyword(s):

Virtual Reality ◽

Force Feedback ◽

Haptic Feedback ◽

Design System ◽

Detection Mechanism ◽

Turbine Engine ◽

Surround Sound ◽

Process Verification ◽

Engine Simulation ◽

Assembly Operations

AbstractThe design and verification of assembly operations is essential for planning product production operations. Recently, virtual prototyping has witnessed tremendous progress, and has reached a stage where current environments enable rich and multi-modal interaction between designers and models through stereoscopic visuals, surround sound, and haptic feedback. The benefits of building and using Virtual Reality (VR) models in assembly process verification are discussed in this paper. In this paper, we present the virtual assembly (VA) of an aircraft turbine engine. The assembly parts and sequences are explained using a virtual reality design system. The system enables stereoscopic visuals, surround sounds, and ample and intuitive interaction with developed models. A special software architecture is suggested to describe the assembly parts and assembly sequence in VR. A collision detection mechanism is employed that provides visual feedback to check the interference between components. The system is tested for virtual prototype and assembly sequencing of a turbine engine. We show that the developed system is comprehensive in terms of VR feedback mechanisms, which include visual, auditory, tactile, as well as force feedback. The system is shown to be effective and efficient for validating the design of assembly, part design, and operations planning.

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Torque Control of Electrorheological Fluidic Resistive Actuators for Haptic Vehicular Instrument Controls

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2192822 ◽

2005 ◽

Vol 128 (2) ◽

pp. 216-226 ◽

Cited By ~ 10

Author(s):

M. A. Vitrani ◽

J. Nikitczuk ◽

G. Morel ◽

C. Mavroidis ◽

B. Weinberg

Keyword(s):

Electric Fields ◽

Closed Loop ◽

Force Feedback ◽

Haptic Feedback ◽

Control Device ◽

Torque Control ◽

Feedback Mechanisms ◽

Feedforward Loop ◽

Integral Controller ◽

Proportional Integral Controller

Force-feedback mechanisms have been designed to simplify and enhance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. By consolidating various controls into a single, haptic feedback control device, information can be transmitted to the operator, without requiring the driver’s visual attention. In this paper, the experimental closed loop torque control of electro-rheological fluids (ERF) based resistive actuators for haptic applications is performed. ERFs are liquids that respond mechanically to electric fields by changing their properties, such as viscosity and shear stress electroactively. Using the electrically controlled rheological properties of ERFs, we developed resistive-actuators for haptic devices that can resist human operator forces in a controlled and tunable fashion. In this study, the ERF resistive-actuator analytical model is derived and experimentally verified and accurate closed loop torque control is experimentally achieved using a non-linear proportional integral controller with a feedforward loop.

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