scholarly journals Enhancing haptic feedback of subsurfaces during needle insertion

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.

Development of an Electro-Rheological Fluidic Actuator and Haptic Systems for Vehicular Instrument Control

2003 ◽  
Author(s):  
Avi Fisch ◽  
Jason Nikitczuk ◽  
Brian Weinberg ◽  
Juan Melli-Huber ◽  
Constantinos Mavroidis ◽  
...  
Keyword(s):  
Feedback Control ◽  
Visual Attention ◽  
Electric Field ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Haptic Devices ◽  
Experimental Systems ◽  
Instrument Control ◽  
Control Devices ◽  
Sense Of Touch

Force-feedback methanisms have been designed to simplify and enahance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. Haptic system, or systems that interact with the operator’s sense of touch, can be used to consolidate various controls into fever, haptic feedback control devices, so that information can be transmitted to the operator and the operator can change control settings without requiring the driver’s visual attention. In this paper an Electro-Rheological Fluid (ERF) based actuator and mechanisms are presented that provide haptic feedback. ERSs are fluids that change their viscosity in response to an electric field. Using the electrically controlled rheological properties of ERFs, haptic devices have been developed that can resist human operator forces in a controlled and tunable fashion. The design of an ERF-based actuator and its application to a haptic knob and haptic joystick is presented. The analytical model is given, analyses are performed, and experimental systems and data are presented for the actuator. Conceptual methods for the application to the haptic devices are presented.

Heterogeneous Tissue Layer Deformation With Haptic Feedback

2013 ◽  
Author(s):  
Neil Vaughan ◽  
Venketesh N. Dubey ◽  
Michael Y. K. Wee ◽  
Richard Isaacs
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Subcutaneous Fat ◽  
Needle Insertion ◽  
Epidural Needle ◽  
Tissue Layer ◽  
Mass Damper ◽  
Heterogeneous Tissue ◽  
External Forces ◽  
Layer Deformation

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.

scholarly journals Measurement of Syringe Needle Forces for a Haptic Robotic Training Device

2017 ◽  
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.

Design of a Novel Parallel Mechanism for Haptic Device

2021 ◽  
pp. 1-63
Author(s):  
Jin Lixing ◽  
Duan Xingguang ◽  
Li Changsheng ◽  
Shi Qingxin ◽  
Wen Hao ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Parallel Architecture ◽  
General Purpose ◽  
Haptic Device ◽  
Haptic Devices ◽  
Modeling And Optimization ◽  
Teleoperation Systems

Abstract This paper presents a novel parallel architecture with seven active degrees of freedom (DOFs) for general-purpose haptic devices. The prime features of the proposed mechanism are partial decoupling, large dexterous working area, and fixed actuators. The detailed processes of design, modeling, and optimization are introduced and the performance is simulated. After that, a mechanical prototype is fabricated and tested. Results of the simulations and experiments reveal that the proposed mechanism possesses excellent performances on motion flexibility and force feedback. This paper aims to provide a remarkable solution of the general-purpose haptic device for teleoperation systems with uncertain mission in complex applications.

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

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.

Semi-Immersive Virtual Turbine Engine Simulation System

2018 ◽  
Vol 35 (2) ◽  
pp. 149-160 ◽  
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.

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

2005 ◽  
Vol 128 (2) ◽  
pp. 216-226 ◽  
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.

scholarly journals Experimental Evaluation on Haptic Feedback Accuracy by Using Two Self-Made Haptic Devices and One Additional Interface in Robotic Teleoperation

Actuators ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 24
Author(s):  
Guan-Yang Liu ◽  
Yi Wang ◽  
Chao Huang ◽  
Chen Guan ◽  
Dong-Tao Ma ◽  
...  
Keyword(s):  
Experimental Evaluation ◽  
Haptic Feedback ◽  
Force Sensor ◽  
Interaction Force ◽  
Haptic Device ◽  
Human Hand ◽  
Haptic Devices ◽  
Input Noise ◽  
Output Force ◽  
Robotic Teleoperation

The goal of haptic feedback in robotic teleoperation is to enable users to accurately feel the interaction force measured at the slave side and precisely understand what is happening in the slave environment. The accuracy of the feedback force describing the error between the actual feedback force felt by a user at the master side and the measured interaction force at the slave side is the key performance indicator for haptic display in robotic teleoperation. In this paper, we evaluate the haptic feedback accuracy in robotic teleoperation via experimental method. A special interface iHandle and two haptic devices, iGrasp-T and iGrasp-R, designed for robotic teleoperation are developed for experimental evaluation. The device iHandle integrates a high-performance force sensor and a micro attitude and heading reference system which can be used to identify human upper limb motor abilities, such as posture maintenance and force application. When a user is asked to grasp the iHandle and maintain a fixed position and posture, the fluctuation value of hand posture is measured to be between 2 and 8 degrees. Based on the experimental results, human hand tremble as input noise sensed by the haptic device is found to be a major reason that results in the noise of output force from haptic device if the spring-damping model is used to render feedback force. Therefore, haptic rendering algorithms should be independent of hand motion information to avoid input noise from human hand to the haptic control loop in teleoperation. Moreover, the iHandle can be fixed at the end effector of haptic devices; iGrasp-T or iGrasp-R, to measure the output force/torque from iGrasp-T or iGrasp-Rand to the user. Experimental results show that the accuracy of the output force from haptic device iGrasp-T is approximately 0.92 N, and using the force sensor in the iHandle can compensate for the output force inaccuracy of device iGrasp-T to 0.1 N. Using a force sensor as the feedback link to form a closed-loop feedback force control system is an effective way to improve the accuracy of feedback force and guarantee high-fidelity of feedback forces at the master side in robotic teleoperation.

Augmented Reality Systems and Haptic Devices for Needle Insertion Medical Training

2021 ◽  
pp. 133-151
Author(s):  
Cléber Gimenez Corrêa ◽  
Claiton de Oliveira ◽  
Silvio Ricardo Rodrigues Sanches
Keyword(s):  
Augmented Reality ◽  
Medical Training ◽  
Needle Insertion ◽  
Haptic Devices

scholarly journals Visual delay affects force scaling and weight perception during object lifting in virtual reality

2019 ◽  
Vol 121 (4) ◽  
pp. 1398-1409 ◽  
Author(s):  
Vonne van Polanen ◽  
Robert Tibold ◽  
Atsuo Nuruki ◽  
Marco Davare
Keyword(s):  
Virtual Reality ◽  
Multisensory Integration ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Visual Signals ◽  
Visual Events ◽  
Object Lifting ◽  
Relative Weighting ◽  
The Brain ◽  
Visual Delay

Lifting an object requires precise scaling of fingertip forces based on a prediction of object weight. At object contact, a series of tactile and visual events arise that need to be rapidly processed online to fine-tune the planned motor commands for lifting the object. The brain mechanisms underlying multisensory integration serially at transient sensorimotor events, a general feature of actions requiring hand-object interactions, are not yet understood. In this study we tested the relative weighting between haptic and visual signals when they are integrated online into the motor command. We used a new virtual reality setup to desynchronize visual feedback from haptics, which allowed us to probe the relative contribution of haptics and vision in driving participants’ movements when they grasped virtual objects simulated by two force-feedback robots. We found that visual delay changed the profile of fingertip force generation and led participants to perceive objects as heavier than when lifts were performed without visual delay. We further modeled the effect of vision on motor output by manipulating the extent to which delayed visual events could bias the force profile, which allowed us to determine the specific weighting the brain assigns to haptics and vision. Our results show for the first time how visuo-haptic integration is processed at discrete sensorimotor events for controlling object-lifting dynamics and further highlight the organization of multisensory signals online for controlling action and perception. NEW & NOTEWORTHY Dexterous hand movements require rapid integration of information from different senses, in particular touch and vision, at different key time points as movement unfolds. The relative weighting between vision and haptics for object manipulation is unknown. We used object lifting in virtual reality to desynchronize visual and haptic feedback and find out their relative weightings. Our findings shed light on how rapid multisensory integration is processed over a series of discrete sensorimotor control points.

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