Show simple item record

dc.contributor.authorVaughan, Neil*
dc.contributor.authorDubey, Venketesh N.*
dc.contributor.authorWee, Michael Y. K.*
dc.contributor.authorIsaacs, Richard*
dc.date.accessioned2017-12-21T14:48:16Z
dc.date.available2017-12-21T14:48:16Z
dc.date.issued2014-07-01
dc.identifier.citationVaughan, N., Dubey, V. N., Wee, M. Y. K., & Isaacs, R. (2014). Haptic feedback from human tissues of various stiffness and homogeneity. Advances in Robotics Research: International Journals, 1(3), 215-237. http://dx.doi.org/10.12989/arr.2014.1.3.215en
dc.identifier.issn2287-4984
dc.identifier.doi10.12989/arr.2015.1.3.215
dc.identifier.urihttp://hdl.handle.net/10034/620774
dc.description.abstractThis work presents methods for haptic modelling of soft and hard tissue with varying stiffness. The model provides visualization of deformation and calculates force feedback during simulated epidural needle insertion. A spring-mass-damper (SMD) network is configured from magnetic resonance image (MRI) slices of patient’s lumbar region to represent varying stiffness throughout tissue structure. Reaction force is calculated from the SMD network and a haptic device is configured to produce a needle insertion simulation. The user can feel the changing forces as the needle is inserted through tissue layers and ligaments. Methods for calculating the force feedback at various depths of needle insertion are presented. Voxelization is used to fill ligament surface meshes with spring mass damper assemblies for simulated needle insertion into soft and hard tissues. Modelled vertebrae cannot be pierced by the needle. Graphs were produced during simulated needle insertions to compare the applied force to haptic reaction force. Preliminary saline pressure measurements during Tuohy epidural needle insertion are also used as a basis for forces generated in the simulation.
dc.language.isoenen
dc.publisherTechno-Pressen
dc.relation.urlhttp://techno-press.org/?journal=arr&subpage=7en
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/en
dc.subjectSoft tissueen
dc.subjectTissue modelen
dc.subjectHaptic feedbacken
dc.subjectHuman tissue modelen
dc.subjectMedical simulationen
dc.titleHaptic feedback from human tissues of various stiffness and homogeneity.en
dc.typeArticleen
dc.contributor.departmentBournemouth University; Poole Hospital NHS Foundation Trusten
dc.identifier.journalAdvances in Robotics Research: International Journals
dc.date.accepted2015-01-12
or.grant.openaccessYesen
rioxxterms.funderUnfundeden
rioxxterms.identifier.projectUnfundeden
rioxxterms.versionAMen
rioxxterms.licenseref.startdate2014-07-01
refterms.dateFCD2019-07-15T09:55:35Z
refterms.versionFCDAM
refterms.dateFOA2018-01-21T00:00:00Z
html.description.abstractThis work presents methods for haptic modelling of soft and hard tissue with varying stiffness. The model provides visualization of deformation and calculates force feedback during simulated epidural needle insertion. A spring-mass-damper (SMD) network is configured from magnetic resonance image (MRI) slices of patient’s lumbar region to represent varying stiffness throughout tissue structure. Reaction force is calculated from the SMD network and a haptic device is configured to produce a needle insertion simulation. The user can feel the changing forces as the needle is inserted through tissue layers and ligaments. Methods for calculating the force feedback at various depths of needle insertion are presented. Voxelization is used to fill ligament surface meshes with spring mass damper assemblies for simulated needle insertion into soft and hard tissues. Modelled vertebrae cannot be pierced by the needle. Graphs were produced during simulated needle insertions to compare the applied force to haptic reaction force. Preliminary saline pressure measurements during Tuohy epidural needle insertion are also used as a basis for forces generated in the simulation.


Files in this item

Thumbnail
Name:
Printed_ARR_Paper.pdf
Size:
2.674Mb
Format:
PDF
Description:
Printed final ARR paper

This item appears in the following Collection(s)

Show simple item record

http://creativecommons.org/licenses/by-nc-nd/4.0/
Except where otherwise noted, this item's license is described as http://creativecommons.org/licenses/by-nc-nd/4.0/