Ales, P.-J., Herzig, N. orcid.org/0000-0002-5845-2697, Leleve, A. et al. (2 more authors) (2016) 3D haptic rendering of tissues for epidural needle insertion using an electro-pneumatic 7 degrees of freedom device. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 09-14 Oct 2016, Daejeon, Korea. IEEE , pp. 5175-5180. ISBN 9781509037636
Abstract
Epidural anaesthesia is a medical gesture commonly performed by an anaesthesiologist. However, it remains one of the most difficult gestures to master for medical students. Given the lack of sufficiently realistic training devices available for future physicians, we propose a new haptic simulator which reproduces the haptic sensations felt by anaesthesiologists when performing this kind of operation. The originality of this simulator is the coupling of a Geomagic Touch ® device with a pneumatic cylinder to reproduce the “Loss of Resistance” phenomenon which helps the physician to control the needle depth. In this paper, we introduce the parametric 3D model of the region of interest and the control laws used jointly. Even though this device could not reproduce the right level of forces required in this type of anaesthesia, an anaesthesiologist involved in the project gave positive feedback about its haptic tissue rendering.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2016 IEEE. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 03 Feb 2020 15:55 |
Last Modified: | 03 Feb 2020 15:55 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/iros.2016.7759760 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:156181 |