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Human Arm Modeling in Haptic Training System of Sinus Endoscopy

Esfandiari, Mojtaba | 2017

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49468 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam
  7. Abstract:
  8. In recent years, computer haptics research area have gradually grown all around the world. It deals with displaying the rendered contact properties in a virtual environment to a human user while interaction to a haptic interface. In general, a haptic interface provides essential haptic feedback information of a remote environment to a human user. The human operator, as a part of computer haptic system, will usually make an interaction by the haptic interface in a real environment which is usually limited to the end-effector of the physical device. On the other hand, the virtual tool in the virtual environment will interact by the virtual based remote environment which is generated from the inspiration of a real physical phenomenon. Results gathered from use of computer haptics, especially in the field of medical and surgery simulation trainees, revealed that virtual reality simulators improved trainees’ operative performance.The ideal simulator for surgery system trainees must be equipped by a proper force feedback rendered system. To have a reasonable sense of haptic, we should take into account the involvement of the human operator dynamics as a key element and how he/she will act in the whole system dynamics since it plays and important role in the haptic system entire control stability and proper performance. Various environment impedances may lead the human operator dynamics model vary, significantly. However, it can result in a wide range of dynamic behaviors.In the field of developing an Endoscopic Sinus Surgery (ESS) training systems, proposing a suitable virtual environment model which can reflect the real physical tool-tissue interaction behavior and a proper human user interface appropriate dynamic model, is vital. In the medical virtual reality systems, visual and haptic senses will be used for simulating the surgical procedures in a multimodal virtual environment. However, the use of different control methods are necessary for making the perception of virtual objects’ manipulation realistic.Although the simulation transparency is a fundamental issue in the haptic rendering of a virtual reality system, the dynamics of haptic interface and also the closed–loop stability of the feedback control system are some limitation factors which prevent a complete transparency. However, the control strategy play and important role to couples the virtual environment simulation to the haptic interfaces which include both hardware and human user
  9. Keywords:
  10. Neural Network ; Haptic System ; Electromyogram Signal ; Endoscopic Sinus Surgery ; Human Arm Modeling

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