TCP/IP illustrated (vol. 1): the protocols
TCP/IP illustrated (vol. 1): the protocols
Real-Time Finite Element Modeling for Surgery Simulation: An Application to Virtual Suturing
IEEE Transactions on Visualization and Computer Graphics
Haptic Rendering: Introductory Concepts
IEEE Computer Graphics and Applications
Robot-assisted Tactile Sensing for Minimally Invasive Tumor Localization
International Journal of Robotics Research
MICCAI'05 Proceedings of the 8th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
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Tactile feedback is a major missing feature in minimally invasive procedures; it is an essential means of diagnosis and orientation during surgical procedures. Previous works have presented a remote palpation feedback system based on the coupling between a pressure sensor and a general haptic interface. Here a new approach is presented based on the direct estimation of the tissue mechanical properties and finally their presentation to the operator by means of a haptic interface. The approach presents different technical difficulties and some solutions are proposed: the implementation of a fast Young's modulus estimation algorithm, the implementation of a real time finite element model, and finally the implementation of a stiffness estimation approach in order to guarantee the system's stability. The work is concluded with an experimental evaluation of the whole system.