Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic Platform - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2014

Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic Platform

Abstract

In the medical field, several surgical simulators and training platforms have been developed to help novice surgeons improve their surgical skills, as well as perform preoperative planning. In this paper, a haptic platform for surgical needle insertion training gestures is presented. Instead of relying on active actuators, an alternative solution, consisting in passive brakes based on Electro-Rheological (ER) fluids, is proposed, to provide a safe and realistic physical feedback to the physician. This platform generates a passive repulsive force against the user's movement, providing him/her a physical stimulus and, thus, a realistic haptic feedback. The goal of this project is to prove the reliability of ERF-based brakes to simulate the physical resistance of soft tissues against the movement of a surgical needle, in order to train unskilled practitioners in different scenarios. 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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Dates and versions

lirmm-01078465 , version 1 (29-10-2014)

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Adrian Graña Sanchez, Luis Alonso Sanchez Secades, Nabil Zemiti, Philippe Poignet. Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic Platform. IROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.1216-1221, ⟨10.1109/IROS.2014.6942712⟩. ⟨lirmm-01078465⟩
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