Design And Control Of A Haptic Device For Minimally Invasive Surgery Simulation
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Design and Control of a Haptic Device for Minimally Invasive Surgery Simulation
The main objective of this thesis focuses on the construction of a new interface for Minimally Invasive Surgery training. This interface incorporates novel broad band sensory modalities that include visual, haptic and thermal technology, into the evolution of the next generation of surgical robotic and surgical simulator. Our particular novelty in this research is in using of thermal stimulation in a MIS applied perspectives. Several thermal exchange models have been designed, implemented and evaluated for telepresence and virtual reality applications. Interesting sensations have been recorded which have a direct bearing on the ability to distinguish between objects in the surrounding environment and particularly in the medical field where temperature sensing correlates with anomalies in some know diseases. A new haptic device is designed and realized by analyzing surgical tasks in terms of required dexterity, workspace, force and torque. The mechanical design constraints have been considered with respect to the general requirements for haptic interface design from what has been well established in the haptics literature. The overall device has been interfaced with an open source VR simulator (SOFA). We added in SOFA the necessary software dealing with thermal simulation using built-in data structure and methods. The integration was successful and a realistic simulation scenario with both visual and thermal feedback was achieved. Preliminary results using the overall simulation are presented.
Surgery Simulation and Soft Tissue Modeling
This book constitutes the refereed proceedings of the International Symposium on Surgery Simulation and Soft Tissue Modeling, IS4TM 2003, held in Juan-Les-Pins, France in June 2003. The 33 revised full papers presented together with 3 invited papers were carefully reviewed and selected from 45 submissions. The papers are organized in topical sections on soft tissue models, haptic rendering, cardiac modeling, and patient specific simulators.
Design and Control Advances in Robotics
Robotics plays a pivotal role in many domains such as industry and medicine. Robots allow for increased safety, production rates, accuracy, and quality; however, robots must be well designed and controlled to achieve the required performance. The design and control of robotics involve many varying disciplines, such as mechanical engineering, electronics, and automation, and must be further studied to ensure the technology is utilized appropriately. Design and Control Advances in Robotics considers the most recent applications and design advances in robotics and highlights the latest developments and applications within the field of robotics. Covering key topics such as deep learning, machine learning, programming, automation, and control advances, this reference work is ideal for engineers, computer scientists, industry professionals, academicians, practitioners, scholars, researchers, instructors, and students.