A real-time haptic interface for interventional radiology procedures.
Stud Health Technol Inform
; 111: 329-33, 2005.
Article
en En
| MEDLINE
| ID: mdl-15718754
Interventional Radiology (IR) is a minimally-invasive surgery technique (MIS) where guidewires and catheters are steered in the vascular system under X-ray imaging. In order to perform these procedures, a radiologist has to be correctly trained to master hand-eye coordination, instrument manipulation and procedure protocols. This paper proposes a computer-assisted training environment dedicated to IR. The system is composed of a virtual reality (VR) simulation of the anatomy of the patient linked to a robotic interface providing haptic force feedback.The paper focuses on the requirements, design and prototyping of a specific part of the haptic interface dedicated to catheters. Translational tracking and force feedback on the catheter is provided by two cylinders forming a friction drive arrangement. The whole friction can be set in rotation with an additional motor providing torque feedback. A force and a torque sensor are integrated in the cylinders for direct measurement on the catheter enabling disturbance cancellation with a close-loop force control strategy.
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Colección:
01-internacional
Base de datos:
MEDLINE
Asunto principal:
Interfaz Usuario-Computador
/
Radiografía Intervencional
Límite:
Humans
País/Región como asunto:
Europa
Idioma:
En
Revista:
Stud Health Technol Inform
Asunto de la revista:
INFORMATICA MEDICA
/
PESQUISA EM SERVICOS DE SAUDE
Año:
2005
Tipo del documento:
Article
País de afiliación:
Suiza
Pais de publicación:
Países Bajos