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Haptic feedback from human tissues of various stiffness and homogeneity.
Vaughan, Neil Dubey, Venketesh N. Wee, Michael Y. K. Isaacs, Richard
Vaughan, Neil
Dubey, Venketesh N.
Wee, Michael Y. K.
Isaacs, Richard
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EPub Date
Publication Date
2014-07-01
Submitted Date
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Abstract
This work presents methods for haptic modelling of soft and hard tissue with varying stiffness.
The model provides visualization of deformation and calculates force feedback during simulated epidural needle insertion. A spring-mass-damper (SMD) network is configured from magnetic resonance image (MRI) slices of patient’s lumbar region to represent varying stiffness throughout tissue structure. Reaction
force is calculated from the SMD network and a haptic device is configured to produce a needle insertion simulation. The user can feel the changing forces as the needle is inserted through tissue layers and ligaments. Methods for calculating the force feedback at various depths of needle insertion are presented. Voxelization is used to fill ligament surface meshes with spring mass damper assemblies for simulated needle insertion into soft and hard tissues. Modelled vertebrae cannot be pierced by the needle. Graphs were produced during simulated needle insertions to compare the applied force to haptic reaction force. Preliminary saline pressure measurements during Tuohy epidural needle insertion are also used as a basis for forces generated in the simulation.
Citation
Vaughan, N., Dubey, V. N., Wee, M. Y. K., & Isaacs, R. (2014). Haptic feedback from human tissues of various stiffness and homogeneity. Advances in Robotics Research, 1(3), 215-237. http://dx.doi.org/10.12989/arr.2014.1.3.215
Publisher
Techno-Press
Journal
Advances in Robotics Research
Research Unit
DOI
10.12989/arr.2015.1.3.215
PubMed ID
PubMed Central ID
Type
Article
Language
en
Description
Series/Report no.
ISSN
2287-4984