Design of high-fidelity haptic display for one-dimensional force reflection applications

Brent Gillespie; Louis B. Rosenberg

doi:10.1117/12.197331

21 December 1995 Design of high-fidelity haptic display for one-dimensional force reflection applications

Brent Gillespie, Louis B. Rosenberg

Proceedings Volume 2351, Telemanipulator and Telepresence Technologies; (1995) https://doi.org/10.1117/12.197331
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

This paper discusses the development of a virtual reality platform for the simulation of medical procedures which involve needle insertion into human tissue. The paper's focus is the hardware and software requirements for haptic display of a particular medical procedure known as epidural analgesia. To perform this delicate manual procedure, an anesthesiologist must carefully guide a needle through various layers of tissue using only haptic cues for guidance. As a simplifying aspect for the simulator design, all motions and forces involved in the task occur along a fixed line once insertion begins. To create a haptic representation of this procedure, we have explored both physical modeling and perceptual modeling techniques. A preliminary physical model was built based on CT-scan data of the operative site. A preliminary perceptual model was built based on current training techniques for the procedure provided by a skilled instructor. We compare and contrast these two modeling methods and discuss the implications of each. We select and defend the perceptual model as a superior approach for the epidural analgesia simulator.

Citation Download Citation

Brent Gillespie and Louis B. Rosenberg "Design of high-fidelity haptic display for one-dimensional force reflection applications", Proc. SPIE 2351, Telemanipulator and Telepresence Technologies, (21 December 1995); https://doi.org/10.1117/12.197331

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