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Phenomenological contact model characterization and haptic simulation of an endoscopic sinus and skull base surgery virtual system

Sadeghnejad, S ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1109/ICRoM.2016.7886822
  3. Abstract:
  4. During the endoscopic sinus and skull base training surgeries, the haptic perception of tool-tissue interaction and even transitions and ruptures in the tissues are fundamental which should be taken into account in a robotic control scheme. However, this problem is extremely complex given the nature and the variety of tissues involved in an ESS procedures. In this article, ex-vivo indentation and relaxation experiments associated with an offline model estimation of the interaction between tissues and a surgical tool are presented. The estimated parameters of the modified Kelvin-Voigt model are then used to provide a realistic tool-tissue interaction dynamic model. Finally, the principle of a virtual reality simulation scheme that would allow better haptic discrimination of tool-tissue interaction is proposed and illustrated. © 2016 IEEE
  5. Keywords:
  6. Modified kelvin-voigt model ; Endoscopy ; Histology ; Robotics ; Surgery ; Tissue ; Endoscopic sinus surgery ; Estimated parameter ; Haptic ; Haptic simulations ; Kelvin voigt model ; Skull base surgery ; Tissue interactions ; Virtual reality simulations ; Surgical equipment
  7. Source: 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, 26 October 2016 through 28 October 2016 ; 2017 , Pages 84-89 ; 9781509032228 (ISBN)
  8. URL: https://ieeexplore.ieee.org/document/7886822