Title :
Haptic rendering of a puncture task with 4-legged 6 DOF parallel haptic device
Author :
Kim, Hyung Wook ; Suh, Ii Hong ; Yi, Byung-Ju
Author_Institution :
Dept. of Electron. Eng., Hanyang Univ., South Korea
fDate :
28 Sept.-2 Oct. 2004
Abstract :
A haptic rendering system is proposed for a puncture task of a virtual vertebra model. To build a mesh model from medical images, Delaunay triangulation is applied and physical models are based on elasticity theory. Also, a redundant actuated 6 DOF parallel type haptic device is designed to display large force and to resolve the singularity problem of parallel type mechanisms. Haptic feeling of puncture task and the performance of the proposed haptic device are tested by two puncture task experiments.
Keywords :
haptic interfaces; medical robotics; mesh generation; redundant manipulators; rendering (computer graphics); surgery; virtual reality; 4-legged 6 DOF parallel haptic device; Delaunay triangulation; elasticity theory; haptic rendering system; medical image; puncture task; singularity problem; virtual vertebra model; Computational modeling; Deformable models; Displays; Haptic interfaces; Medical robotics; Medical treatment; Needles; Optical reflection; Robot sensing systems; Surgery;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389848
