Design Constraints for Haptic Surgery Simulation

A Robust Controller with Online Authority Transformation for Dual User Haptic Training System

In this study, a force reflection control structure is developed for the surgery training haptic system. In the surgery training haptic system, the surgical operation is cooperatively performed by a trainer and a trainee. The participation of each surgeon in the operation is established through their own haptic consoles. Although the operation is primarily performed by the trainee, the trainer ...

Soft Tissue Modeling for Surgery Simulation

1 General Issues in Surgery Simulation 2 1.1 Surgical Simulators . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.1.1 Medical Impact of Surgical Simulators . . . . . . . . . . . 2 1.1.2 Classi cation of Surgical Simulators . . . . . . . . . . . . 3 1.2 Simulator Architecture . . . . . . . . . . . . . . . . . . . . . . . . 4 1.2.1 Geometric Modeling . . . . . . . . . . . . . . . . . . . ....

INTERACTIVE DYNAMICS WITH HAPTIC DISPLAY Brent Gillespie

Brent Gillespie, Mark Cutkosky ABSTRACT The simulation of virtual environments which are multi-degreeof-freedom presents unique challenges to the designer of control software for haptic display devices. Once the successfully rendered stiffness, damping, and mass elements are interconnected to form multibody systems, a host of controller implementation choices arise. For one, the control law mus...

Design of a Haptic System for Minimally Invasive Cardiac Surgeries

In the present paper, we describe the mechanical design and working principle of a haptic device to be used during minimally invasive single port access cardiac surgeries. The details to hardware/software design and implementation to electronically actuate the device will be also presented. The viability of the design will be demonstrated by integrating the virtual representation of the left ve...

Simulation of the Admittance Control Based Haptic Interface Device