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.
Type de document :
Communication dans un congrès
IPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.00, 2014, 5th International Conference on Information Processing in Computer-Assisted Interventions
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00941009
Contributeur : Nabil Zemiti <>
Soumis le : lundi 3 février 2014 - 11:30:29
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07

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  • HAL Id : lirmm-00941009, version 1

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Adrian Graña Sanchez, Alonso Sánchez, 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.00, 2014, 5th International Conference on Information Processing in Computer-Assisted Interventions. 〈lirmm-00941009〉

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