Modelling and Control of an ERF-based Needle Insertion Training Platform - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2014

Modelling and Control of an ERF-based Needle Insertion Training Platform

Abstract

In the medical field, there exists some surgical simulators and training platforms that have been developed for training novice surgeons in order to improve their surgical skills and for performing preoperative planning. In this paper we present a haptic platform for surgical needle insertion training gestures. It uses passive brakes based on Electro-Rheological (ER) fluids to provide a safe and realistic physical feedback to the physician. To achieve this objective, a prototype has been built, its kinematic model has been obtained and experimentally validated. The modelling, the bandwidth analysis and the force control scheme of the platform are also presented.

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lirmm-00941009 , version 1 (03-02-2014)

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Adrian Graña Sanchez, Luis Alonso Sanchez Secades, Nabil Zemiti, Philippe Poignet. Modelling and Control of an ERF-based Needle Insertion Training Platform. IPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.31-40, ⟨10.1007/978-3-319-07521-1_4⟩. ⟨lirmm-00941009⟩
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