This 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.


    Access

    Download


    Export, share and cite



    Title :

    Haptic feedback from human tissues of various stiffness and homogeneity


    Contributors:

    Publication date :

    2014-07-30


    Remarks:

    Vaughan , 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 , vol. 1 , no. 3 , pp. 215-237 .


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    HAPTIC FEEDBACK DEVICE, HAPTIC FEEDBACK METHOD, AND VEHICLE

    ONO AKIRA / ABE HIRONOBU / NISHIIKE AKIHITO | European Patent Office | 2024

    Free access

    Deconstructing haptic feedback information in robot-assisted needle insertion in soft tissues

    Marco Ferro / Claudio Pacchierotti / Sara Rossi et al. | BASE | 2023

    Free access

    WEARABLE HAPTIC FEEDBACK

    CHEN YIFAN / PRAKAH-ASANTE KWAKU O / MELCHER DAVID et al. | European Patent Office | 2020

    Free access

    Wearable haptic feedback

    CHEN YIFAN / PRAKAH-ASANTE KWAKU O / MELCHER DAVID et al. | European Patent Office | 2021

    Free access

    HAPTIC FEEDBACK DEVICE

    LEE SANG YOUNG / KIM KAB YOUNG / SONG YUN SANG et al. | European Patent Office | 2018

    Free access