Name
Abstract | ||
|---|---|---|
This paper proposes a scheme to produce realistic force reflection in a needle insertion problem. The target system is a spine needle biopsy simulator for tumor inspection by needle insertion. Simulated force is calculated using a 3D human tissue model and the orientation and position of the needle, and is produced through the PHANToMTM device. To generate realistic force reflection, the directional force of the needle has been generated by a related tissue model, and the rotational force is generated using a pivot to keep the needle in the initial inserted direction after puncturing the skin. Since the haptic device has limitations in generating high stiffness and large damping, a scale-down model and digital filter are used to stabilize the system. |
Year | DOI | Venue |
|---|---|---|
2001 | 10.1109/ROBOT.2001.932799 | ICRA |
Keywords | Field | DocType |
digital filter,virtual reality,needle insertion,force reflection,spine biopsy simulator,phantom device,stiffness,physiological models,force feedback,haptic interfaces,medical computing,3d human tissue model,surgery,haptic device,skin,inspection,damping,reflection | Torque,Digital filter,Simulation,Stiffness,Imaging phantom,Biopsy,Engineering,Tissue Model,Haptic technology,Puncturing | Conference |
Volume | Issue | ISSN |
2 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
0-7803-6576-3 | 12 | 3.58 |
References | Authors | |
6 | 8 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dong-Soo Kwon | 1 | 753 | 119.20 |
| Ki-Uk Kyung | 2 | 276 | 46.22 |
| Sungmin Kwon | 3 | 14 | 4.90 |
| Jong Beom Ra | 4 | 476 | 66.96 |
| Hyun Wook Park | 5 | 495 | 54.79 |
| Heung-Sik Kang | 6 | 15 | 4.68 |
| Jianchao Zeng | 7 | 930 | 94.89 |
| kevin cleary | 8 | 12 | 3.58 |