Paper Info
Title
Dynamic coupling haptic suturing based on orthogonal decomposition
Abstract
Suturing task is one of the apparently most common actions during any surgery, however this is a complex task since it involves precise force feedback with a needle and thread, interaction with deformable tissue and organs, puncturing and thread stretching. This is a type of complex constrained motion task due to at the piercing constraint points must be valid all time with a continuum thread. In this paper, a methodology for haptic rendering of suturing task over deformable objects is presented and experimentally illustrated in real time. To this end, an orthogonal decomposition at the contact piercing constraint point of the haptic device introduces a coupled dynamic model of suturing with flexible thread. The thread model is based on constrained Lagrangian splines, whose control points coincides with the contact piercing constraint point, so as to render a consistent differential algebraic system, with the tissue mesh modeled by a distributed dynamical inertial mass-spring-damper system. The methodology provides dynamic kinesthetic feedback for effective haptic rendering.
Year
DOI
Venue
2009
10.1109/WHC.2009.4810884
WHC
Keywords
Field
DocType
continuum thread,suturing task,motion task,dynamic coupling haptic,constraint point,haptic rendering,effective haptic rendering,orthogonal decomposition,thread model,complex task,haptic device,flexible thread,virtual environment,differential algebra,force,real time,user interface,differential algebraic equations,dynamics,surgery,force feedback
Spline (mathematics),Inertial frame of reference,Computer vision,Algebraic number,Computer science,Thread (computing),Differential algebraic equation,Artificial intelligence,Orthogonal decomposition,Puncturing,Haptic technology
Conference
Citations 
PageRank 
References 
0
0.34
6
Authors
3
Name
Order
Citations
PageRank
G. Sepulveda-Cervantes121.42
V. Parra-Vega2423.57
O. A. Dominguez-Ramirez300.34