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Advances in Robotics Research   Volume 1, Number 3, July 2014, pages 215-237
DOI: http://dx.doi.org/10.12989/arr.2015.1.3.215
 
Haptic feedback from human tissues of various stiffness and homogeneity
Neil Vaughan, Venketesh N. Dubey, Michael Y.K. Wee and Richard Isaacs

 
Abstract     [Full Text]
    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.
 
Key Words
    soft tissue; tissue model; haptic feedback; human tissue model; medical simulation
 
Address
Neil Vaughan, Venketesh N. Dubey: Bournemouth University, Faculty of Science and Technology, Poole, BH12 5BB, United Kingdom

Michael Y.K. Wee, Richard Isaacs: Poole Hospital NHS Foundation Trust, Longfleet Road, Poole, BH15 2JB, United Kingdom
 

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