Haptic devices in engineering and medicine

Sofronia, Raluca E.; Savii, George; Davidescu, Arjana

doi:10.1109/icccyb.2010.5491247

Cited by 7 publications

(5 citation statements)

References 5 publications

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“…Based on this aspect, a new method for manipulating and deforming a surface meshbased tooth was proposed [12]. The extension of the simulation to the specific dental procedures, such as drilling and grinding, revealed that the surface-based models are not suitable for hard tissue removal in case of heterogeneous materials.…”

Section: Related Workmentioning

confidence: 99%

Real-time collision detection for long thin medical instruments in virtual reality-based simulators

Sofronia

Savii

Davidescu

2012

2012 13th International Conference on Optimization of Electrical and Electronic Equipment (OPTIM)

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Realistic haptic interaction represents an important requirement for successful virtual reality-based simulators that could replace traditional surgery training methods. This paper presents a new collision detection algorithm for long thin object used in hard tissue removal operations, e.g., sawing. The algorithm works efficiently by reducing the number of bone volume elements that needs to be checked for collision with the tool and also by reducing the number of transformations between the virtual scene coordinate systems. The algorithm is integrated into a Virtual Reality-based sawing training system for orthognathic surgery.

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Section: Related Workmentioning

confidence: 99%

Real-time collision detection for long thin medical instruments in virtual reality-based simulators

Sofronia

Savii

Davidescu

2012

2012 13th International Conference on Optimization of Electrical and Electronic Equipment (OPTIM)

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“…The equation ( 3) is simplified as ij τ =M θ +H θ +Wθ θ +G (4) M, H, W and G denotes inertial term, centripetal term, coriolis term and gravity term. In order to compare the affection of the dynamic modeling of FFMM with parallelogram mechanism to that without parallelogram, the dynamic modeling of FFMM without parallelogram mechanism needs to be constructed, the structure of FFMM without parallelogram mechanism is similar to FFMM with parallelogram mechanism, each segment is shown in Fig.…”

Section: Dynamical Modeling Of Ffmm With Parallelogram Mechanismmentioning

confidence: 99%

“…In robot-assist surgery, it is expected that surgeon can feel realistic contact force between tissue and instrument by operating FFMM. The FFMM has been implemented in virtual reality systems for medical training [2] and other aspects [3][4][5]. In the past years, many FFMM have been developed.…”

Section: Introductionmentioning

confidence: 99%

Design of a Master Manipulator with Dynamical Simplification for Master-Slave Robot

Zhang

Wang

et al. 2013

AMM

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Dynamic behavior is an important factor to affect the performance of surgical robot, especially force-feedback master manipulator. In this paper, a force-feedback master manipulator with parallelogram is developed, which can realize self-gravity balance; Compare the dynamics of the force-feedback master manipulator with parallelogram mechanism and another one without parallelogram mechanism. The result shows that the dynamical equation of the master manipulator with parallelogram mechanism is simpler than the one without parallelogram mechanism. This parallelogram mechanism can be generally used in all the mechanical design that is needed to simplify the dynamics.

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“…Haptic feedback plays a key role on motor skill learning process, especially in infants by enabling them to gather information about unknown dynamics in their surrounding environment to be used to explore the environment 6 . The technological advancements paved the way of robotic haptic interfaces 7,8 , providing bi-directional exchange of information between a person and their surrounding environment 8 or between two interacting persons 9 . Recent studies 7,9 employing robotic haptic interfaces outlined that dyads showed better performance than individuals.…”

Section: Introductionmentioning

confidence: 99%

Simultaneous Learning against to Sequential Learning via Haptic Interaction

Saracbasi,

Harwin,

Kondo

et al. 2023

Preprint

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From a parent assisting to their child to use a spoon, to a physical therapist helping stroke patients to relearn walking, haptic assistance via haptic feedback plays an important role in skill learning. It is known that skill learning is associated with learning unknown dynamics within the interaction. For instance, while learning skills with a new partner under unknown environmental dynamics, humans are specifically exposed to two unknown dynamics: partner dynamics and environmental dynamics. Although recent studies have focused on skill learning mostly through adaptation to environmental dynamics or partner dynamics, much less is known about ’dual instability’. Is it possible to deal with dual instability? We developed a new paradigm in which we asked paired participants to control the joint cursor, representing the interaction dynamics e.g. partner, own self and environment. Note that the haptic device controls the joint cursor through two springs connected to cursors controlled by the paired participants, however, only the joint cursor was made visible. As the environmental dynamics exert the forces on the joint cursor, dual instability for the participants was realised. Under the cooperative task, we assessed whether one can learn to bring the joint cursor to the target with a partner. We examined skill learning under four conditions: (1) cooperative sequential learning, (2) simultaneous learning of partner and environmental dynamics, (3) individual sequential learning, (4) individual learning. Skill learning were quantified using time to target, trajectory smoothness and force. Experimental results suggested that if two-people interact actively (i.e. move the joint cursor together), there could be a separation of dual dynamics, which result in skill learning. The order of the unknown dynamics is not matter (e.g. sequential or simultaneous). There could be skill learning even though exposed to the most difficult condition, in simultaneous learning.

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Haptic devices in engineering and medicine

Cited by 7 publications

References 5 publications

Real-time collision detection for long thin medical instruments in virtual reality-based simulators

Real-time collision detection for long thin medical instruments in virtual reality-based simulators

Design of a Master Manipulator with Dynamical Simplification for Master-Slave Robot

Simultaneous Learning against to Sequential Learning via Haptic Interaction

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