Haptic Rendering of a Puncture Task with 4-Legged Parallel Haptic Device
- Title
- Haptic Rendering of a Puncture Task with 4-Legged Parallel Haptic Device
- Author
- 이병주
- Keywords
- Robotics and Control Systems; Computing and Processing; Signal Processing and Analysis; Haptic interfaces; Deformable models; Surgery; Displays; Computational modeling; Robot sensing systems; Medical robotics; Optical reflection; Medical treatment; Needles
- Issue Date
- 2004-09
- Publisher
- IEEE
- Citation
- 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), v.3, Page. 2892-2898
- Abstract
- A haptic rendering system is proposed for a
puncture task of a virtual vertebra model. To build a mesh
model from medical images, Delaunay triangulation is applied
and physical models are based on elasticity theory. Also, a
redundant actuated 6 DOF parallel type haptic device is
designed to display large force and to resolve the singularity
problem of parallel type mechanisms. Haptic feeling of
puncture task and the performance of the proposed haptic
device are tested by two puncture task experiments.
- URI
- https://information.hanyang.ac.kr/#/eds/detail?an=edseee.1389848&dbId=edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/151734
- ISBN
- 0-7803-8463-6; 978-0-7803-8463-7
- DOI
- 10.1109/IROS.2004.1389848
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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