35 research outputs found
Electromagnetic Position Sensing and Force Feedback for a Magnetic Stylus with an Interactive Display
This letter describes the design, implementation, validation, and demonstration of an electromagnetic system that can be incorporated into a graphical display to provide computer-controlled planar feedback forces on the tip of a stylus or fingertip-mounted magnet held near the display surface, according to the magnet position and virtual fixtures implemented in software. An array of magnetometer sensors is used to detect the position of the magnet, while a pair of box-shaped coils behind the display produces feedback forces on the stylus parallel to the plane of the display. Electromagnetic analysis for the system design is presented and system implementation is described. Validation results are given for force generation within a 100 mm Ă— 100 mm area and force interaction with a virtual obstacle is demonstrated
Electromagnetic Position Sensing and Force Feedback for a Magnetic Stylus with an Interactive Display
This letter describes the design, implementation, validation, and demonstration of an electromagnetic system that can be incorporated into a graphical display to provide computer-controlled planar feedback forces on the tip of a stylus or fingertip-mounted magnet held near the display surface, according to the magnet position and virtual fixtures implemented in software. An array of magnetometer sensors is used to detect the position of the magnet, while a pair of box-shaped coils behind the display produces feedback forces on the stylus parallel to the plane of the display. Electromagnetic analysis for the system design is presented and system implementation is described. Validation results are given for force generation within a 100 mm Ă— 100 mm area and force interaction with a virtual obstacle is demonstrated
Development of miniaturized light endoscope-holder robot for laparoscopic surgery
PURPOSE: We have conducted experiments with an innovatively designed robot
endoscope holder for laparoscopic surgery that is small and low cost. MATERIALS
AND METHODS: A compact light endoscope robot (LER) that is placed on the
patient's skin and can be used with the patient in the lateral or dorsal supine
position was tested on cadavers and laboratory pigs in order to allow
successive modifications. The current control system is based on voice
recognition. The range of vision is 360 degrees with an angle of 160 degrees .
Twenty-three procedures were performed. RESULTS: The tests made it possible to
advance the prototype on a variety of aspects, including reliability,
steadiness, ergonomics, and dimensions. The ease of installation of the robot,
which takes only 5 minutes, and the easy handling made it possible for 21 of
the 23 procedures to be performed without an assistant. CONCLUSION: The LER is
a camera holder guided by the surgeon's voice that can eliminate the need for
an assistant during laparoscopic surgery. The ease of installation and
manufacture should make it an effective and inexpensive system for use on
patients in the lateral and dorsal supine positions. Randomized clinical trials
will soon validate a new version of this robot prior to marketing
Medical image computing and computer-aided medical interventions applied to soft tissues. Work in progress in urology
Until recently, Computer-Aided Medical Interventions (CAMI) and Medical
Robotics have focused on rigid and non deformable anatomical structures.
Nowadays, special attention is paid to soft tissues, raising complex issues due
to their mobility and deformation. Mini-invasive digestive surgery was probably
one of the first fields where soft tissues were handled through the development
of simulators, tracking of anatomical structures and specific assistance
robots. However, other clinical domains, for instance urology, are concerned.
Indeed, laparoscopic surgery, new tumour destruction techniques (e.g. HIFU,
radiofrequency, or cryoablation), increasingly early detection of cancer, and
use of interventional and diagnostic imaging modalities, recently opened new
challenges to the urologist and scientists involved in CAMI. This resulted in
the last five years in a very significant increase of research and developments
of computer-aided urology systems. In this paper, we propose a description of
the main problems related to computer-aided diagnostic and therapy of soft
tissues and give a survey of the different types of assistance offered to the
urologist: robotization, image fusion, surgical navigation. Both research
projects and operational industrial systems are discussed
Control and user interface design for compact manipulators in minimally-invasive surgery
International audienceThis paper describes the control system and user command interfaces developed for a lightweight, compact, endoscope camera manipulator prototype for robot-assistedminimally invasive surgery. A complete teleoperated minimallyinvasive surgical system in development is also based on using lightweight, compact manipulators with simple, reliable, and robust controllers. The endoscope manipulator is controlled by a single-board computer and individual motor controllers. The single-board computer processes user commands and generates control mode and analog velocity commands for the motor controllers. A miniature keypad attached to one of the surgical instruments and a voice recognition system with a foot pedal are used asuser command interfaces