A Haptic Interface for Interventional Radiology

Author

Ilic, Dejan ; Moix, Thomas ; Fracheboud, Blaise ; Bleuler, Hannes ; Vecerina, Ivan

Author_Institution

LSRO - Laboratoire de Systèmes Robotiques EPFL - Ecole Polytechnique de Lausanne Ch. des Machines ME. B3, 1015 Lausanne, Switzerland; dejan.ilic@epfl.ch

fYear

2005

fDate

18-22 April 2005

Firstpage

2933

Lastpage

2937

Abstract

Low trauma, reduced costs, fast recovery are few factors why minimally invasive surgery (MIS) is taking over classical surgical methods. Interventional Radiology (IR) is a MIS technique where thin tubular instruments are steered through the patient’s vascular system under the X-ray imaging. These procedures demand highly trained and experienced specialists. A computer-based haptic interface is proposed as a quality training environment. The system is composed of a virtual reality (VR) environment and force feedback units for the surgical instruments. This paper describes the 4 degrees of freedom (DOFs) haptic interface that has been developed for this purpose.

Keywords

Computer Assisted Surgery Simulator; Force-Feedback Devices; Haptic Interface; Interventional Radiology; Biomedical imaging; Catheters; Computational modeling; Force feedback; Haptic interfaces; Instruments; Medical diagnostic imaging; Minimally invasive surgery; Radiology; Virtual reality; Computer Assisted Surgery Simulator; Force-Feedback Devices; Haptic Interface; Interventional Radiology;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570559

Filename

1570559