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Palpation simulator with stable haptic feedback

 Sang-Youn Kim  ;  Jee-Hwan Ryu  ;  WooJeong Lee 
 Minimally Invasive Therapy & Allied Technologies, Vol.24(4) : 211-217, 2015 
Journal Title
 Minimally Invasive Therapy & Allied Technologies 
Issue Date
BACKGROUND: The main difficulty in constructing palpation simulators is to compute and to generate stable and realistic haptic feedback without vibration. When a user haptically interacts with highly non-homogeneous soft tissues through a palpation simulator, a sudden change of stiffness in target tissues causes unstable interaction with the object. MATERIAL AND METHODS: We propose a model consisting of a virtual adjustable damper and an energy measuring element. The energy measuring element gauges energy which is stored in a palpation simulator and the virtual adjustable damper dissipates the energy to achieve stable haptic interaction. RESULTS: To investigate the haptic behavior of the proposed method, impulse and continuous inputs are provided to target tissues. If a haptic interface point meets with the hardest portion in the target tissues modeled with a conventional method, we observe unstable motion and feedback force. However, when the target tissues are modeled with the proposed method, a palpation simulator provides stable interaction without vibration. CONCLUSION: The proposed method overcomes a problem in conventional haptic palpation simulators where unstable force or vibration can be generated if there is a big discrepancy in material property between an element and its neighboring elements in target tissues.
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1. Journal Papers (연구논문) > 1. College of Medicine (의과대학) > Dept. of Surgery (외과학교실)
Yonsei Authors
이우정(Lee, Woo Jung) ORCID logo https://orcid.org/0000-0001-9273-261X
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