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Towards engineering a portable platform for laparoscopic pre-training in virtual reality with haptic feedback

虚拟现实与智能硬件（中英文） 2024年第2期6卷 83-99页

作者： Hans-Georg ENKLER Wolfgang KUNERT Stefan PFEFFER Kai-Jonas BOCK Steffen AXT Jonas JOHANNINK Christoph REICH Furtwangen University 78120 FurtwangenGermany University Hospital and Faculty of Medicine Tuebingen 72076 TuebingenGermany

Background Laparoscopic surgery is a surgical technique in which special instruments are inserted through small incision holes inside the *** some time,efforts have been made to improve surgical pre training through practical exercises on abstracted and reduced *** The authors strive for a portable,easy to use and cost-effective Virtual Reality-based(VR)laparoscopic pre-training platform and therefore address the question of how such a system has to be designed to achieve the quality of today's gold standard using real tissue *** VR controllers are limited regarding haptic *** haptic feedback is necessary or at least beneficial for laparoscopic surgery training,the platform to be developed consists of a newly designed prototype laparoscopic VR controller with haptic feedback,a commercially available head-mounted display,a VR environment for simulating a laparoscopic surgery,and a training *** To take full advantage of benefits such as repeatability and cost-effectiveness of VR-based training,the system shall not require a tissue sample for haptic *** is currently calculated and visually displayed to the user in the VR *** the prototype controller,a first axis was provided with perceptible feedback for test *** of the prototype VR controllers can be combined to simulate a typical both-handed use case,e.g.,laparoscopic suturing.A Unity based VR prototype allows the execution of simple standard *** The first prototype enables full operation of a virtual laparoscopic instrument in *** addition,the simulation can compute simple interaction *** challenges lie in a realistic real-time tissue simulation and calculation of forces for the haptic *** weaknesses were identified in the first hardware prototype,which will be improved in subsequent *** degrees of freedom of the controller are to be provided with haptic *** make forces t

关键词： Laparoscopic surgery Training Virtual reality Controller haptic feedback Kinesthetic skills

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Effect of haptic feedback on a virtual lab about friction

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Virtual Reality & Intelligent Hardware 2019年第4期1卷 428-434页

作者： Zhuoluo MA Yue LIU Lu ZHAO Beijing Engineering Research Center of Mixed Reality and Advanced Display School of Optics and PhotonicsBeijing Institute of TechnologyBeijing 100081China AICFVE of Beijing Film Academy Beijing 100088China

Background With the increase in recent years of the utilization of multimedia devices in education,new haptic devices for education have been gradually adopted and *** compared with visual and auditory channels,the development of applications with a haptic channel is still in the initial *** example,it is unclear how force feedback influences an instructional effect of an educational application and the subjective feeling of *** In this study,we designed an educational application with a haptic device(Haply)to explore the effects of force feedback on self *** in an experiment group used a designed application to study friction by themselves using force feedback,whereas subjects in a control group studied the same knowledge without force feedback.A post-test and questionnaire were designed to assess the learning ***/Conclusions The experimental result indicates that force feedback is beneficial to an educational application,and using a haptic device can improve the effect of the application and motivate students.

关键词： haptic feedback Science education Virtual lab Multimedia education

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Real Time and Efficient haptic feedback Framework for Deformable Objects

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Chinese Journal of Aeronautics 2002年第4期15卷 250-254页

作者：薛喜梅杨光王田苗 Department of Industrial Design Beijing University of Aeronautics and Astronautics Beijing 100083 China Robotics Institute Beijing University of Aeronautics and Astronautics Beijing 100083 China

On account of the high computational speed required for force feedback and the detailed graphic required for deformation feedback, this paper presents a real time and efficient haptic feedback framework by subdividing the area of interest on a relatively coarse triangular mesh. When a contact is detected, a portion of the colliding surface is subdivided and a particle system produced, which is used for deformation based on the approximate velocity cone theory. Simultaneously, a spring\|damper model is used ...

关键词： haptic feedback deformation collision detection surgery simulation

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In-hand haptic perception in dexterous manipulations

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Science China(Information Sciences) 2014年第12期57卷 65-75页

作者： HE JunHu ZHANG JianWei Faculty of Mathematics Informatics and Natural Sciences Department Informatics University of Hamburg

Dexterous in-hand manipulation with multi-finger robotic hands is a hot topic in *** many famous multi-finger robotic hands have been *** a lot of research has been done on them;in-hand manipulation is still a *** of its issues lies in the uncertainty of interaction *** this paper we research robot-object interaction from a novel angle called haptic *** method helps robots acquire the ability to explore the robot-object *** in-hand manipulation tasks,haptic exploration is a process where the robot pushes on in-hand objects slightly in different directions,and meanwhile perceives the haptic feedback to estimate the interaction *** this paper a new single finger push model is proposed for analyzing the haptic feedback,which is similar to traditional impedance control of robot *** this model the stiffness of fingers,the deformation on contact surface,and the change of object’s pos(position and attitude)are ***,a push resistance is given to describe the haptic feedback acquired from a slight ***,real robotic experiments are conducted to verify the feasibility of proposed method.

关键词： in-hand manipulation multi-finger robotic hands dexterous manipulation haptic perception haptic feedback

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Virtual brain surgery simulation system based on haptic interaction

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High Technology Letters 2015年第2期21卷 185-191页

作者：张小瑞 Zhu Jiandong Sun Wei Norman I.Badler Song Aiguo Niu Jianwei Liu Jia School of Computer and Software Nanjing University of Information Science & Technology Jiangsu Engineering Center of Network Monitoring Nanjing University of Information Science and Technology School of Information and Control Nanjing University of Information Science & Technology School of Engineering and Applied Science University of Pennsylvania School of Instrument Science and Engineering Southeast University State key Laboratory of Virtual Reality Technology and Systems Beihang University

To improve the accuracy and interactivity of soft tissue delormatlon simulation, a new plate spring model based on physics is proposed. The model is parameterized and thus can be adapted to simulate different organs. Different soft tissues are modeled by changing the width, number of pieces, thickness, and length of a single plate spring. In this paper, the structural design, calcula- tion of soft tissue deformation and real-time feedback operations of our system are also introduced. To evaluate the feasibility of the system and validate the model, an experimental system of haptic in- teraction, in which users can use virtual hands to pull virtual brain tissues, is built using PHANTOM OMNI devices. Experimental results show that the proposed system is stable, accurate and promising for modeling instantaneous soft tissue deformation.

关键词： haptic feedback human-computer interaction surgery simulation soft tissue deformation

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Virtual Reality Toolkit for the Assembly of Nanotube-based Nano-electro-mechanical Systems

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Chinese Journal of Mechanical Engineering 2011年第1期24卷 1-11页

作者： GAO Zhan LECUYER Anatole ZHANG Shuyou State Key Laboratory ofCAD＆CG Zhejiang University Hangzhou 310027 China School of Computer Science and Technology Nantong University Nantong 226019 China BUNRAKU Group INRIA Campus University de Beaulieu Rennes 35042 France

Nano assembly and manipulation technologies are the basis for nano-electro-mechanical systems（NEMS）. Atomic force microscope（AFM） is widely used to manipulate nanotubes to assemble NEMS. Manipulating nanotubes with AFM is a challenging and difficult task. One of the major reasons is the deficiency of visual information during the manipulation process. To address these difficulties, this research aims to put forward novel virtual tools and assembly strategies to improve the efficiency, accuracy and ease of the assembly process of NEMS. This paper begins by the discussion of the principles and implementation of a virtual nano-assembly simulator, which serves as a benchmark to test the proposed NEMS assembly techniques and virtual tools. Then, a general framework of nanotube-based NEMS assembly is proposed. Several nano-assembly strategies and virtual tools, such as automated path planning for NEMS assembly, a four-step scheme of nanotube manipulation, virtual fixtures for assembly finalization and safe manipulation, are introduced. These virtual tools and methods are experimented for justification. An assembly task of moderate complexity was performed in our virtual nano-assembly simulator with and without the help of the proposed toolkit. Experimental results suggest that the proposed methods tend to greatly enhance the efficiency and accuracy of nanotube-based NEMS assembly. In general, the proposed virtual reality toolkit not only ensures the safety, but also enhances the accuracy and efficiency of the assembly of nanotube-based NEMS.

关键词： virtual reality nano-assembly nano-electro-mechanical systems haptic feedback

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Control Evaluation of Antagonistic Series Elastic Actuation for a Robotic Endoscope Joint

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Journal of Bionic Engineering 2022年第4期19卷 965-974页

作者： Lorin Fasel Nicolas Gerig Philippe C.Cattin Georg Rauter BIROMED-Lab Department of Biomedical EngineeringUniversity of Basel4123AllschwilSwitzerland CIAN Department of Biomedical EngineeringUniversity of Basel4123AllschwilSwitzerland

haptic feedback is typically missing during telemanipulation of surgical robots in minimally invasive surgeries,i.e.,surgeons cannot feel the interaction forces between the instruments and ***,surgeons have to solely rely on visual feedback,which increases complexity of guiding the instruments and poses the safety threat of unperceivable contacts outside the field of *** propose a novel series elastic actuation design for articulated robotic endoscopes to overcome these limitations and evaluate an according device with one *** to the actuation of human fingers,the joint is driven by antagonistic *** are integrated in the transmission between the tendons and the motors outside of the endoscope *** estimated the joint angle and thereby the endoscope shape,measured spring deflection,estimated tendon forces from that deflection,and implemented force control for the endoscope *** torque control and impedance control were evaluated under application of both a continuous force and an impact force to the endoscope *** springs reduced impact forces at the tip of the endoscope through their inherent *** the same time,feeding back the estimated force resulted in a stable tendon force control and a tunable endoscope joint control:Zero torque control effectively reduced the external forces,while the endoscope joint showed the expected stiffness in impedance *** results show that antagonistic series elastic actuation is a promising concept for endoscope joint actuation and that it can lead towards safer robot–tissue interactions in surgical robotics.

关键词： Minimally invasive surgery RAMIS Robot-assisted surgery haptic feedback Force control Tendon-driven robotics

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Obstacle recognition using a haptic device

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Journal of Measurement Science and Instrumentation 2013年第4期4卷 376-380页

作者： Kyungwook Noh Donghyuk Lee Sunkyun Kang Jaewon An Jangmyung Lee Department of Interdisciplinary Program in Robotics Pusan National University Department of Electrical Engineering Pusan National University

A haptic device is proposed which gives the user feedback information on their location and orientation of the obstacle through the mobile robot that detects the obstacle in an environment where the user cannot *** robot recognizes the exact position of the obstacle through configuring the nested ultrasonic sensor and giving feedback information to the haptic *** haptic device consisting of five vibration motors can realize the haptic through the vibration of user's finger using the position information of the obstacle received *** addition,it has high accuracy to recognize the surrounding environment and realizes the various situations with the fuzzy controller and the nested ultrasonic sensors.

关键词： haptic device teleoperation haptic feedback mobile robot obstacle recognitionDocument code:AArticle ID:1674-8042(2013)04-0376-05

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Dynamic Kinesthetic Boundary for haptic Teleoperation of Unicycle Type Ground Mobile Robots

Dynamic Kinesthetic Boundary for Haptic Teleoperation of Uni...

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第36届中国控制会议

作者： HOU Xiaolei FANG Pengfei QU Yaohong School of Automation Northwestern Polytechnical University College of Engineering and Computer Science Australian National University

This paper presents the design of a novel dynamic kinesthetic boundary（DKB） for haptic teleoperation of unicycle type ground mobile *** kinematics of unicycle type vehicles impose significant challenges for applying DKB in teleoperation of such vehicles,where the DKB was originally proposed for teleoperation of Vertical Taking-Off and Landing（VTOL）aerial *** to DKB is incorporated to facilitate the pilot’s perception of the remote environment at the local master haptic workspace and obstacle avoidance for unicycle type *** on the proposed DKB’s obstacle avoidance performance is *** simulation and experimental study were conducted,and the outcomes verify the analysis and confirm the feasibility of the application of the novel DKB in teleoperation tasks.

关键词： Teleoperation haptic feedback Mobile Robot Obstacle Avoidance

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Transparency and Stability of An haptic Trackball Interface for Bilateral Teleoperation of VTOL Aerial Robots

Transparency and Stability of An Haptic Trackball Interface ...

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第37届中国控制会议

作者： HOU Xiaolei QU Yaohong YUAN Dongli XING Xiaojun YAN Jianguo School of Automation Northwestern Polytechnical University

In this paper,we present the transparency and stability analysis for a novel haptic trackball interface for bilateral teleoperation of vertical taking-off and landing(VTOL) aerial robots.A haptic trackball is built and configured in admittance mode;that is,measuring force input from a human operator and feeding back rotational *** angular velocity of the trackball is servo controlled to track the horizontal velocity of the aerial vehicle and the applied force is used as a control reference for horizontal force applied to the *** proposed interface provides an intuitive perception of the slave vehicle’s horizontal displacement in a transparent and stable *** system was implemented for teleoperation of a quadrotor aerial vehicle and the results demonstrate the potential of the interface for such applications.

关键词： Teleoperation haptic feedback Aerial Robot Transparency Stability

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