A 4-dof haptic device for hysteroscopy simulation

A friction differential and cable transmission design for a 3-DOF haptic device with spherical kinematics

“…Although a haptic device with non-spherical kinematics could be used to simulate such a procedure, we can greatly reduce the physical size of the simulator and the forces that must be generated by using spherical kinematics. One such device is a 4-DOF simulator for vaginal hysterectomies [7]. It uses two grounded motors to actuate pitch and yaw and two motors mounted on the moving mechanism to actuate roll about the instrument's axis and the prismatic, radial DOF via friction rollers.…”

Evaluation of a new virtual-reality training simulator for hysteroscopy

“…It allows procedural training of diagnostic and therapeutic interventions. The haptic interface is integrated into the mannequin's pelvis and offers all degrees of freedom needed, notably spherical displacement around the virtual cervix as well as translation along and rotation around the tool axis [18]. The adapted resectoscope includes the valves for controlling in-and outflow of the virtual distension fluid, tracks the displacement of the operative electrode, and provides camera rotation and adjustment of focus.…”

Virtual Reality Based Simulation of Hysteroscopic Interventions

“…Therefore, an actual surgical instrument has been adapted in order to allow natural control of the intervention. A haptic mechanism (Spaelter, Moix, Ilic, Bajka, & Bleuler, 2004), allowing the complete removal of the instrument, provides force feedback calculated by the haptic rendering module.…”

“…Virtual coupling techniques provide a data exchange between the fast haptic control loop and the slower virtual environment. In order to increase haptic realism, the gravitation, inertia, and friction of the haptic device are actively compensated for or reduced by control (Spaelter et al, 2004. In order to generate force feedback, we follow a point-based haptic proxy paradigm (Ruspini, Kolarov, & Khatib, 1997).…”