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Palpation simulator with stable haptic feedback

Authors
 Sang-Youn Kim  ;  Jee-Hwan Ryu  ;  WooJeong Lee 
Citation
 MINIMALLY INVASIVE THERAPY & ALLIED TECHNOLOGIES, Vol.24(4) : 211-217, 2015 
Journal Title
 MINIMALLY INVASIVE THERAPY & ALLIED TECHNOLOGIES 
ISSN
 1364-5706 
Issue Date
2015
MeSH
Computer Simulation* ; Feedback* ; Humans ; Laparoscopy/education* ; Palpation* ; User-Computer Interface*
Keywords
Haptic interaction ; palpation simulator ; soft tissue modeling ; stable interaction
Abstract
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.
Full Text
http://www.tandfonline.com/doi/full/10.3109/13645706.2014.987677
DOI
10.3109/13645706.2014.987677
Appears in Collections:
1. College of Medicine (의과대학) > Dept. of Surgery (외과학교실) > 1. Journal Papers
Yonsei Authors
Lee, Woo Jung(이우정) ORCID logo https://orcid.org/0000-0001-9273-261X
URI
https://ir.ymlib.yonsei.ac.kr/handle/22282913/140839
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