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Conference papers
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.
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01078465
Contributor : Nabil Zemiti <>
Submitted on : Wednesday, October 29, 2014 - 10:04:55 AM
Last modification on : Tuesday, March 9, 2021 - 5:09:21 PM
Contributor : Nabil Zemiti <>
Submitted on : Wednesday, October 29, 2014 - 10:04:55 AM
Last modification on : Tuesday, March 9, 2021 - 5:09:21 PM