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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Communication dans un congrès
IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. IEEE/RSJ, 27th IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1216-1221, 2014, 〈www.iros2014.org/〉. 〈10.1109/IROS.2014.6942712〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01078465
Contributeur : Nabil Zemiti <>
Soumis le : mercredi 29 octobre 2014 - 10:04:55
Dernière modification le : samedi 1 décembre 2018 - 19:26:33

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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. IEEE/RSJ, 27th IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1216-1221, 2014, 〈www.iros2014.org/〉. 〈10.1109/IROS.2014.6942712〉. 〈lirmm-01078465〉

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