Haptics in Medical Simulation
|
|
|
- Sharyl Matthews
- 6 years ago
- Views:
Transcription
1 Haptics in Medical Simulation Allison M. Okamura Associate Professor Department of Mechanical Engineering Design and Biomechanics Groups Stanford University Collaborative Haptics and Robotics in Medicine (CHARM) Lab
2 Haptics Tissue modeling for haptic simulation Augmented reality Current Projects
3 Haptics Tissue modeling for haptic simulation Augmented reality Current Projects
4 hearing sight which sense is most valuable to you? smell taste touch which would you relinquish last?
5 what would life be like without touch? Ian Waterman
6 why do we have brains? Daniel Wolpert
7 centralized broad passive cognitive sight touch distributed narrow active physical
8 hap tic ('hap-tik) adj. Of or relating to the sense of touch. [Greek haptikos, from haptesthai, to grasp, touch. (1890)] Cutaneous Temperature Texture Slip Vibration Force Johansson and Westling Kinesthesia Location/configuration Motion Force Compliance The haptic senses work together with the motor control system to: - Coordinate movement - Enable perception
9 haptics making inroads Entertainment Education Nintendo Stanford/JHU Immersion Human-Computer Interfaces BMW Samsung Boeing
10 Haptics Tissue modeling for haptic simulation Augmented reality Current Projects
11 Haptics for medical simulation Main Challenge: Users should be allowed to interact with the simulator in any manner, and the simulator should respond appropriately. (Unanswered) Question: How realistic does the simulation need to be to have a significant impact? This talk addresses the mechanical and haptic interaction components medical simulation.
12 is the simulator is any good? Face validity: does the system present an environment resembling that which is encountered during a medical procedure? Content validity: is a skill measured by the system measured the specific skill desired, and not a different one? Construct validity: can the system capture the differences between experts and novices? Concurrent validity: to what extent does testing performance with the simulator yield the same results as other measures? Predictive validity: does performance/training with the simulator transfer to improvements in clinical practice?
13 Reality-Based Modeling UBC videos courtesy Simon DiMaio
14 Cutting with Scissors Blank Skin Force Liver Tendon Scissor angle
15 Needle Insertion Force Velocity Time
16 Needle Insertion
17 Simulation Needle Insertion Accuracy
18 Good models also lead to new technology: Needle Steering Alterovitz, et al. Webster, Reed, et al.
19 Haptics Tissue modeling for haptic simulation Augmented reality Current Projects
20 Open Surgery Surgeon Image source: Patient
21 Minimally Invasive Surgery Surgeon Instrument/Camera Image source: Patient
22 Teleoperated Robot-Assisted Minimally Invasive Surgery Surgeon Master Console Information-Enhanced RMIS (with Haptics) Patient-Side Robot Instrument/Camera 2008 Intuitive Surgical, Inc. Patient
23 da Vinci Surgical System (Intuitive Surgical) patient-side robot surgeon s console
24 Experimental Platform research version of the da Vinci surgical system
25 Force feedback: haptics and graphics
26 Effects of force feedback 1. Haptic + Graphical 2. Haptic Only 3. Graphical Only 4. No Force Feedback Error (deg) error (deg) haptic feedback reduces error feedback
27 Differentiating material properties
28 Lump detection task fiducial markers fiducial markers porcine kidney fiducial markers fiducial markers porcine kidney fiducial markers fiducial markers artificial lumps fiducial markers fiducial markers Camera image X-ray image
29 Lump detection Results
30 What about manipulation? no overlay dot overlay Graphical force feedback results in lower peak forces, lower variability of forces, and fewer broken sutures for novice robot-assisted surgeons In collaboration with D. D. Yuh of JHMI Cardiac Surgery
31 Haptics Tissue modeling for haptic simulation Augmented reality Current Projects
32 In medical simulation today, haptic feedback is typically restricted to that provided by artificial materials (e.g., mannequins) or Laerdal s SimMan resolved forces (e.g., force feedback haptic interfaces in virtual reality simulators) Simon DiMaio, UBC
33 Kinetic System for Medical Simulation (KineSys MedSim) In collaboration with T. Judkins (IAI), J. E. Colgate (Tangible Haptics), D. Gaba (Stanford)
34 Kinesthetic haptic display Images courtesy T. Judkins (IAI)
35 Electrostatic tactile display Disney Research Tangible Haptics
36 Haptic Jamming: A Deformable Geometry, Variable Stiffness Tactile Display using Pneumatics and Particle Jamming Simultaneously controllable surface geometry and mechanical properties Uses pneumatics and particle jamming : a cell made from a flexible membrane filled with granular material solidifies when air is vacuumed out Jim Gwilliam and Andrew Stanley
37 Haptic Jamming Display
38 No Inflation Max Inflation 1.0" Cell 2.0" Cell 1.5" Cell 3.0" Cell Forcedeflection curves after vacuuming the cells Force (N) Vacuumed After Inflation Inflated, not Vacuumed Force deflection curves before vacuuming the cells Deflection (mm) Deflection (mm)
39 Haptics Tissue modeling for haptic simulation Augmented reality Current projects
40 JHU APL
41 Acknowledgments Collaborators Amy Bastian (KKI/JHU Neurosci.) Michael Choti (JHU Surgery) Noah Cowan (JHU Mech. Eng.) David Gaba (Stanford Medicine) Ken Goldberg (UCB IEOR) Gregory Hager (JHU Comp. Sci.) Steven Hsiao (JHU Neuroscience) Michael Hsieh (Stanford Urology) Peter Kazanzides (JHU Comp. Sci.) KT Ramesh (JHU Mech Eng.) Danny Song (JHU Radiology) Russell Taylor (JHU Comp. Sci.) Louis Whitcomb (JHU Mech. Eng.) David Yuh (JHU Surgery) Intuitive Surgical, Inc. Support National Science Foundation National Institutes of Health (NIBIB, NCI, NINDS) Whitaker Foundation JHU Brain Science Institute DARPA Past PhD/Postdoc Lab Members Jake Abbott (Univ. Utah) Nasir Bhanpuri* (USC) Steven Charles*+ (BYU) Jessica Crouch+ (Old Dominion Univ.) David Grow (New Mexico Tech.) Paul Griffiths+ (Intuitive Surgical) Netta Gurari (IIT) Katherine Kuchenbecker+ (UPenn) Mohsen Mahvash+ (Boston Univ.) Panadda Marayong (Cal St Long Beach) Steven Marra+ (JHU) Sarthak Misra (U. Twente) Kyle Reed*+ (USF) Lawton Verner (Intuitive Surgical) Robert Webster* (Vanderbilt Univ.) Tomonori Yamamoto (EndoMaster) *co-advised, +postdoc And many talented undergraduate researchers! Current Lab Members Troy Adebar (Stanford) Amy Blank* (JHU) Nick Colonnese (Stanford) Tricia Gibo* (JHU) Jim Gwilliam* (JHU) Ann Majewicz (Stanford) Kirk Nichols (Stanford) Ilana Nisky+ (Stanford) Zhan Fan Quek (Stanford) Michele Rotella (Stanford) Sam Schorr (Stanford) Andrew Stanley (Stanford) Tom Wedlick (JHU)
Lecture 1: Introduction to haptics and Kinesthetic haptic devices
ME 327: Design and Control of Haptic Systems Winter 2018 Lecture 1: Introduction to haptics and Kinesthetic haptic devices Allison M. Okamura Stanford University today s objectives introduce you to the
Allison Okamura. Professor of Mechanical Engineering and, by courtesy, of Computer Science. Bio
Professor of Mechanical Engineering and, by courtesy, of Computer Science CONTACT INFORMATION Administrative Contact (Research) Crystal Pennywell - Administrative Assistant Bio Email crystal.pennywell@stanford.edu
Allison M. Okamura, Ph.D.
Allison M. Okamura, Ph.D. Mechanical Engineering Department, Stanford University Building 550-107, 416 Escondido Mall, Stanford, CA 94305 phone: 650.721.1700 email: aokamura@stanford.edu Collaborative
Allison M. Okamura, Ph.D.
Allison M. Okamura, Ph.D. Mechanical Engineering Department, Stanford University Building 550-107, 416 Escondido Mall, Stanford, CA 94305 phone: 650.721.1700 email: aokamura@stanford.edu Collaborative
Wearable Haptic Feedback Actuators for Training in Robotic Surgery
Wearable Haptic Feedback Actuators for Training in Robotic Surgery NSF Summer Undergraduate Fellowship in Sensor Technologies Joshua Fernandez (Mechanical Eng.) University of Maryland Baltimore County
Lecture 8: Tactile devices
ME 327: Design and Control of Haptic Systems Winter 2018 Lecture 8: Tactile devices Allison M. Okamura Stanford University tactile haptic devices tactile feedback goal is to stimulate the skin in a programmable
Haptic Feedback in Robot Assisted Minimal Invasive Surgery
K. Bhatia Haptic Feedback in Robot Assisted Minimal Invasive Surgery 1 / 33 MIN Faculty Department of Informatics Haptic Feedback in Robot Assisted Minimal Invasive Surgery Kavish Bhatia University of
Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery
Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery Claudio Pacchierotti Domenico Prattichizzo Katherine J. Kuchenbecker Motivation Despite its expected clinical
Virtual and Augmented Reality Applications
Department of Engineering for Innovation University of Salento Lecce, Italy Augmented and Virtual Reality Laboratory (AVR Lab) Keynote Speech: Augmented and Virtual Reality Laboratory (AVR Lab) Keynote
Haptic Virtual Fixtures for Robot-Assisted Manipulation
Haptic Virtual Fixtures for Robot-Assisted Manipulation Jake J. Abbott, Panadda Marayong, and Allison M. Okamura Department of Mechanical Engineering, The Johns Hopkins University {jake.abbott, pmarayong,
Haptic Feedback in Laparoscopic and Robotic Surgery
Haptic Feedback in Laparoscopic and Robotic Surgery Dr. Warren Grundfest Professor Bioengineering, Electrical Engineering & Surgery UCLA, Los Angeles, California Acknowledgment This Presentation & Research
Haptics Technologies: Bringing Touch to Multimedia
Haptics Technologies: Bringing Touch to Multimedia C2: Haptics Applications Outline Haptic Evolution: from Psychophysics to Multimedia Haptics for Medical Applications Surgical Simulations Stroke-based
CS277 - Experimental Haptics Lecture 1. Introduction to Haptics
CS277 - Experimental Haptics Lecture 1 Introduction to Haptics Haptic Interfaces Enables physical interaction with virtual objects Haptic Rendering Potential Fields Polygonal Meshes Implicit Surfaces Volumetric
FALL 2014, Issue No. 32 ROBOTICS AT OUR FINGERTIPS
FALL 2014, Issue No. 32 ROBOTICS AT OUR FINGERTIPS FALL 2014 Issue No. 32 12 CYBERSECURITY SOLUTION NSF taps UCLA Engineering to take lead in encryption research. Cover Photo: Joanne Leung 6MAN AND MACHINE
Computer Assisted Medical Interventions
Outline Computer Assisted Medical Interventions Force control, collaborative manipulation and telemanipulation Bernard BAYLE Joint course University of Strasbourg, University of Houston, Telecom Paris
Beyond Visual: Shape, Haptics and Actuation in 3D UI
Beyond Visual: Shape, Haptics and Actuation in 3D UI Ivan Poupyrev Welcome, Introduction, & Roadmap 3D UIs 101 3D UIs 201 User Studies and 3D UIs Guidelines for Developing 3D UIs Video Games: 3D UIs for
Integration of a Particle Jamming Tactile Display with a Cable-Driven Parallel Robot
Integration of a Particle Jamming Tactile Display with a Cable-Driven Parallel Robot Andrew A. Stanley 1, David Mayhew 2, Rikki Irwin 2, and Allison M. Okamura 1 1 Department of Mechanical Engineering,
Haptic Applications (Part 1) - Teleoperation & Haptics - Exoskeletons & Biosignals
Simulation Haptic Applications (Part 1) - Teleoperation & Haptics - Exoskeletons & Biosignals Feeling is believing Teachers Tricia Gibo & Jack Schorsch BioMechanical Engineering, Delft University of Technology
Haptics and the User Interface
Haptics and the User Interface based on slides from Karon MacLean, original slides available at: http://www.cs.ubc.ca/~maclean/publics/ what is haptic? from Greek haptesthai : to touch Haptic User Interfaces
Computer Haptics and Applications
Computer Haptics and Applications EURON Summer School 2003 Cagatay Basdogan, Ph.D. College of Engineering Koc University, Istanbul, 80910 (http://network.ku.edu.tr/~cbasdogan) Resources: EURON Summer School
Haptics CS327A
Haptics CS327A - 217 hap tic adjective relating to the sense of touch or to the perception and manipulation of objects using the senses of touch and proprioception 1 2 Slave Master 3 Courtesy of Walischmiller
Robots for Medicine and Personal Assistance. Guest lecturer: Ron Alterovitz
Robots for Medicine and Personal Assistance Guest lecturer: Ron Alterovitz Growth of Robotics Industry Worldwide $70 $56 Market Size (Billions) $42 $28 $14 $0 1995 2000 2005 2010 2015 2020 2025 Source:
Medical robotics and Image Guided Therapy (IGT) Bogdan M. Maris, PhD Temporary Assistant Professor
Medical robotics and Image Guided Therapy (IGT) Bogdan M. Maris, PhD Temporary Assistant Professor E-mail bogdan.maris@univr.it Medical Robotics History, current and future applications Robots are Accurate
SMart wearable Robotic Teleoperated surgery
SMart wearable Robotic Teleoperated surgery This project has received funding from the European Union s Horizon 2020 research and innovation programme under grant agreement No 732515 Context Minimally
Methods for Haptic Feedback in Teleoperated Robotic Surgery
Young Group 5 1 Methods for Haptic Feedback in Teleoperated Robotic Surgery Paper Review Jessie Young Group 5: Haptic Interface for Surgical Manipulator System March 12, 2012 Paper Selection: A. M. Okamura.
Current Status and Future of Medical Virtual Reality
2011.08.16 Medical VR Current Status and Future of Medical Virtual Reality Naoto KUME, Ph.D. Assistant Professor of Kyoto University Hospital 1. History of Medical Virtual Reality Virtual reality (VR)
Tactile Feedback of Tool Vibrations! in Robotic Surgery. Katherine J. Kuchenbecker! Haptics Group, GRASP Laboratory! University of Pennsylvania
Tactile Feedback of Tool Vibrations! in Robotic Surgery Katherine J. Kuchenbecker! Haptics Group, GRASP Laboratory! University of Pennsylvania Workshop at World Haptics June 22, 2015 Robotic Surgery Image
Lecture 7: Human haptics
ME 327: Design and Control of Haptic Systems Winter 2018 Lecture 7: Human haptics Allison M. Okamura Stanford University types of haptic sensing kinesthesia/ proprioception/ force cutaneous/ tactile Related
Introduction to Haptics
Introduction to Haptics Roope Raisamo Multimodal Interaction Research Group Tampere Unit for Computer Human Interaction (TAUCHI) Department of Computer Sciences University of Tampere, Finland Definition
Play Me Back: A Unified Training Platform for Robotic and Laparoscopic Surgery
Play Me Back: A Unified Training Platform for Robotic and Laparoscopic Surgery Alaa Eldin Abdelaal Electrical and Computer Engineering Department University of British Columbia Vancouver, BC, Canada, V6T
Chapter 2 Introduction to Haptics 2.1 Definition of Haptics
Chapter 2 Introduction to Haptics 2.1 Definition of Haptics The word haptic originates from the Greek verb hapto to touch and therefore refers to the ability to touch and manipulate objects. The haptic
Medical Robotics. Part II: SURGICAL ROBOTICS
5 Medical Robotics Part II: SURGICAL ROBOTICS In the last decade, surgery and robotics have reached a maturity that has allowed them to be safely assimilated to create a new kind of operating room. This
Evaluation of Haptic Virtual Fixtures in Psychomotor Skill Development for Robotic Surgical Training
Department of Electronics, Information and Bioengineering Neuroengineering and medical robotics Lab Evaluation of Haptic Virtual Fixtures in Psychomotor Skill Development for Robotic Surgical Training
Novel machine interface for scaled telesurgery
Novel machine interface for scaled telesurgery S. Clanton, D. Wang, Y. Matsuoka, D. Shelton, G. Stetten SPIE Medical Imaging, vol. 5367, pp. 697-704. San Diego, Feb. 2004. A Novel Machine Interface for
Realtime 3D Computer Graphics Virtual Reality
Realtime 3D Computer Graphics Virtual Reality Marc Erich Latoschik AI & VR Lab Artificial Intelligence Group University of Bielefeld Virtual Reality (or VR for short) Virtual Reality (or VR for short)
Virtual Environments. CSCI 420 Computer Graphics Lecture 25. History of Virtual Reality Flight Simulators Immersion, Interaction, Real-time Haptics
CSCI 420 Computer Graphics Lecture 25 Virtual Environments Jernej Barbic University of Southern California History of Virtual Reality Flight Simulators Immersion, Interaction, Real-time Haptics 1 Virtual
Virtual Environments. Virtual Reality. History of Virtual Reality. Virtual Reality. Cinerama. Cinerama
CSCI 480 Computer Graphics Lecture 25 Virtual Environments Virtual Reality computer-simulated environments that can simulate physical presence in places in the real world, as well as in imaginary worlds
Maneesh Dewan. Prepared on: April 11, 2007
Maneesh Dewan maneesh@cs.jhu.edu www.cs.jhu.edu/~maneesh 307, E. University Parkway, 3400 N. Charles Street, Baltimore, MD 21218. NEB B28, Baltimore, MD 21218. Phone: (410) 900 8804 (C) Phone: (410) 516
1/22/13. Virtual Environments. Virtual Reality. History of Virtual Reality. Virtual Reality. Cinerama. Cinerama
CSCI 480 Computer Graphics Lecture 25 Virtual Environments Apr 29, 2013 Jernej Barbic University of Southern California http://www-bcf.usc.edu/~jbarbic/cs480-s13/ History of Virtual Reality Immersion,
Phantom-Based Haptic Interaction
Phantom-Based Haptic Interaction Aimee Potts University of Minnesota, Morris 801 Nevada Ave. Apt. 7 Morris, MN 56267 (320) 589-0170 pottsal@cda.mrs.umn.edu ABSTRACT Haptic interaction is a new field of
Can technological solutions support user experience, learning, and operation outcome in robotic surgery?
VTT TECHNICAL RESEARCH CENTRE OF FINLAND LTD Can technological solutions support user experience, learning, and operation outcome in robotic surgery? ERF2016 Session Image Guided Robotic Surgery and Interventions
Robots in Image-Guided Interventions
Robots in Image-Guided Interventions Peter Kazanzides Associate Research Professor Dept. of Computer Science The Johns Hopkins University My Background 1983-1988 Ph.D. EE (Robotics), Brown University 1989-1990
Job Description. Commitment: Must be available to work full-time hours, M-F for weeks beginning Summer of 2018.
Research Intern Director of Research We are seeking a summer intern to support the team to develop prototype 3D sensing systems based on state-of-the-art sensing technologies along with computer vision
Surgical robot simulation with BBZ console
Review Article on Thoracic Surgery Surgical robot simulation with BBZ console Francesco Bovo 1, Giacomo De Rossi 2, Francesco Visentin 2,3 1 BBZ srl, Verona, Italy; 2 Department of Computer Science, Università
da Vinci Skills Simulator
da Vinci Skills Simulator Introducing Simulation for the da Vinci Surgical System Skills Practice in an Immersive Virtual Environment Portable. Practical. Powerful. The da Vinci Skills Simulator contains
VIRTUAL REALITY Introduction. Emil M. Petriu SITE, University of Ottawa
VIRTUAL REALITY Introduction Emil M. Petriu SITE, University of Ottawa Natural and Virtual Reality Virtual Reality Interactive Virtual Reality Virtualized Reality Augmented Reality HUMAN PERCEPTION OF
Realistic Force Reflection in the Spine Biopsy Simulator
Realistic Force Reflection in the Spine Biopsy Simulator Dong-Soo Kwon*, Ki-uk Kyung*, Sung Min Kwon**, Jong Beom Ra**, Hyun Wook Park** Heung Sik Kang***, Jianchao Zeng****, and Kevin R Cleary**** * Dept.
Measurements of the Level of Surgical Expertise Using Flight Path Analysis from da Vinci Robotic Surgical System
Measurements of the Level of Surgical Expertise Using Flight Path Analysis from da Vinci Robotic Surgical System Lawton Verner 1, Dmitry Oleynikov, MD 1, Stephen Holtmann 1, Hani Haider, Ph D 1, Leonid
Using Web-Based Computer Graphics to Teach Surgery
Using Web-Based Computer Graphics to Teach Surgery Ken Brodlie Nuha El-Khalili Ying Li School of Computer Studies University of Leeds Position Paper for GVE99, Coimbra, Portugal Surgical Training Surgical
International Journal of Advanced Research in Computer Science and Software Engineering
Volume 3, Issue 3, March 2013 ISSN: 2277 128X International Journal of Advanced Research in Computer Science and Software Engineering Research Paper Available online at: www.ijarcsse.com A Study on SensAble
Perceptual Overlays for Teaching Advanced Driving Skills
Perceptual Overlays for Teaching Advanced Driving Skills Brent Gillespie Micah Steele ARC Conference May 24, 2000 5/21/00 1 Outline 1. Haptics in the Driver-Vehicle Interface 2. Perceptual Overlays for
Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute Use an example to explain what is admittance control? You may refer to exoskeleton
Multi-Modal User Interaction
Multi-Modal User Interaction Lecture 4: Multiple Modalities Zheng-Hua Tan Department of Electronic Systems Aalborg University, Denmark zt@es.aau.dk MMUI, IV, Zheng-Hua Tan 1 Outline Multimodal interface
MIVS Tel:
www.medical-imaging.org.uk medvis-info@bangor.ac.uk Tel: 01248 388244 MIVS 2014 Medical Imaging and Visualization Solutions Drop in centre from 10.00am-4.00pm Friday 17th Jan 2014 - Bangor, Gwynedd Post
ience e Schoo School of Computer Science Bangor University
ience e Schoo ol of Com mpute er Sc Visual Computing in Medicine The Bangor Perspective School of Computer Science Bangor University Pryn hwn da Croeso y RIVIC am Prifysgol Abertawe Siarad Cymraeg? Schoo
ERC: Engineering Research Center for Computer- Integrated Surgical Systems and Technology (NSF Grant # )
ERC: Engineering Research Center for Computer- Integrated Surgical Systems and Technology (NSF Grant #9731748) MARCIN BALICKI 1, and TIAN XIA 2 1,2 Johns Hopkins University, 3400 Charles St., Baltimore,
Tactile Interactions During Robot Assisted Surgical Interventions. Lakmal Seneviratne
Tactile Interactions During Robot Assisted Surgical Interventions Lakmal Seneviratne Professor of Mechatronics Kings College London Professor of Mechanical Eng. Khalifa Univeristy, Abu Dhabi. 1 Overview
MEAM 520. Haptic Rendering and Teleoperation
MEAM 520 Haptic Rendering and Teleoperation Katherine J. Kuchenbecker, Ph.D. General Robotics, Automation, Sensing, and Perception Lab (GRASP) MEAM Department, SEAS, University of Pennsylvania Lecture
Haptics ME7960, Sect. 007 Lect. 6: Device Design I
Haptics ME7960, Sect. 007 Lect. 6: Device Design I Spring 2009 Prof. William Provancher Prof. Jake Abbott University of Utah Salt Lake City, UT USA Today s Class Haptic Device Review (be sure to review
Creating an Infrastructure to Address HCMDSS Challenges Introduction Enabling Technologies for Future Medical Devices
Creating an Infrastructure to Address HCMDSS Challenges Peter Kazanzides and Russell H. Taylor Center for Computer-Integrated Surgical Systems and Technology (CISST ERC) Johns Hopkins University, Baltimore
Realistic Force Reflection in a Spine Biopsy Simulator
Proceedings of the 2001 IEEE International Conference on Robotics & Automation Seoul, Korea May 21-26, 2001 Realistic Force Reflection in a Spine Biopsy Simulator Dong-Soo Kwon*, Ki-Uk Kyung*, Sung Min
Haptic Technology- Comprehensive Review Study with its Applications
Haptic Technology- Comprehensive Review Study with its Applications Tanya Jaiswal 1, Rambha Yadav 2, Pooja Kedia 3 1,2 Student, Department of Computer Science and Engineering, Buddha Institute of Technology,
4/23/16. Virtual Reality. Virtual reality. Virtual reality is a hot topic today. Virtual reality
CSCI 420 Computer Graphics Lecture 25 Virtual Reality Virtual reality computer-simulated environments that can simulate physical presence in places in the real world, as well as in imaginary worlds History
Automatic Detection and Segmentation of Robot-Assisted Surgical Motions
Automatic Detection and Segmentation of Robot-Assisted Surgical Motions Henry C. Lin 1, Izhak Shafran 2, Todd E. Murphy, Allison M. Okamura, David D. Yuh, and Gregory D. Hager 1 1 Department of Computer
Force feedback interfaces & applications
Force feedback interfaces & applications Roope Raisamo Tampere Unit for Computer-Human Interaction (TAUCHI) School of Information Sciences University of Tampere, Finland Based on material by Jukka Raisamo,
ME7752: Mechanics and Control of Robots Lecture 1
ME7752: Mechanics and Control of Robots Lecture 1 Instructor: Manoj Srinivasan Office: E340 Scott Laboratory Email: srinivasan.88@osu.edu ( PDF posted. In the PDF, if there are no links to videos, do a
Vibration Feedback Models for Virtual Environments
Presented at the 1998 IEEE International Conference on Robotics and Automation May 16-2, 1998, Leuven, Belgium Vibration Feedback Models for Virtual Environments Allison M. Okamura, 1,2 Jack T. Dennerlein
Lecture 9: Teleoperation
ME 327: Design and Control of Haptic Systems Autumn 2018 Lecture 9: Teleoperation Allison M. Okamura Stanford University teleoperation history and examples the genesis of teleoperation? a Polygraph is
MEAM 520. Haptic Rendering and Teleoperation
MEAM 520 Haptic Rendering and Teleoperation Katherine J. Kuchenbecker, Ph.D. General Robotics, Automation, Sensing, and Perception Lab (GRASP) MEAM Department, SEAS, University of Pennsylvania Lecture
Haptic Virtual Fixtures for Robot-Assisted Manipulation
Haptic Virtual Fixtures for Robot-Assisted Manipulation Jake J. Abbott, Panadda Marayong, and Allison M. Okamura Department of Mechanical Engineering, The Johns Hopkins University Baltimore, Maryland,
Haptic Perception & Human Response to Vibrations
Sensing HAPTICS Manipulation Haptic Perception & Human Response to Vibrations Tactile Kinesthetic (position / force) Outline: 1. Neural Coding of Touch Primitives 2. Functions of Peripheral Receptors B
Proposal for Robot Assistance for Neurosurgery
Proposal for Robot Assistance for Neurosurgery Peter Kazanzides Assistant Research Professor of Computer Science Johns Hopkins University December 13, 2007 Funding History Active funding for development
4/1/2011. Ken Goldberg UC Berkeley. Robot
The World of Robots history Ken Goldberg UC Berkeley 2 history Robot Karel Capek, R.U.R. (1923) 3 1 Two Classes of Robots Industrial robot : Reprogrammable, multi-function manipulator with 3 or more axes.
Brain-Machine Interface for Neural Prosthesis:
Brain-Machine Interface for Neural Prosthesis: Nitish V. Thakor, Ph.D. Professor, Biomedical Engineering Joint Appointments: Electrical & Computer Eng, Materials Science & Eng, Mechanical Eng Neuroengineering
Abdulmotaleb El Saddik Associate Professor Dr.-Ing., SMIEEE, P.Eng.
Abdulmotaleb El Saddik Associate Professor Dr.-Ing., SMIEEE, P.Eng. Multimedia Communications Research Laboratory University of Ottawa Ontario Research Network of E-Commerce www.mcrlab.uottawa.ca abed@mcrlab.uottawa.ca
Proprioception & force sensing
Proprioception & force sensing Roope Raisamo Tampere Unit for Computer-Human Interaction (TAUCHI) School of Information Sciences University of Tampere, Finland Based on material by Jussi Rantala, Jukka
A Framework for Analysis of Surgeon Arm Posture Variability in Robot-Assisted Surgery
A Framework for Analysis of Surgeon Arm Posture Variability in Robot-Assisted Surgery Ilana Nisky, Michael H. Hsieh, and Allison M. Okamura Abstract Teleoperated robot-assisted surgery (RAS) provides surgeons
Research article Methods for haptic feedback in teleoperated robot-assisted surgery
Research article Methods for haptic feedback in teleoperated robot-assisted surgery The author is based in the Department of Mechanical Engineering, The Johns Hopkins University, Baltimore, Maryland, USA.
CS277 - Experimental Haptics Lecture 2. Haptic Rendering
CS277 - Experimental Haptics Lecture 2 Haptic Rendering Outline Announcements Human haptic perception Anatomy of a visual-haptic simulation Virtual wall and potential field rendering A note on timing...
Touch Feedback in a Head-Mounted Display Virtual Reality through a Kinesthetic Haptic Device
Touch Feedback in a Head-Mounted Display Virtual Reality through a Kinesthetic Haptic Device Andrew A. Stanley Stanford University Department of Mechanical Engineering astan@stanford.edu Alice X. Wu Stanford
VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery
University of Pennsylvania ScholarlyCommons Departmental Papers (MEAM) Department of Mechanical Engineering & Applied Mechanics 7-2010 VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery
Computer Assisted Abdominal
Computer Assisted Abdominal Surgery and NOTES Prof. Luc Soler, Prof. Jacques Marescaux University of Strasbourg, France In the past IRCAD Strasbourg + Taiwain More than 3.000 surgeons trained per year,,
INTRODUCING THE VIRTUAL REALITY FLIGHT SIMULATOR FOR SURGEONS
INTRODUCING THE VIRTUAL REALITY FLIGHT SIMULATOR FOR SURGEONS SAFE REPEATABLE MEASUREABLE SCALABLE PROVEN SCALABLE, LOW COST, VIRTUAL REALITY SURGICAL SIMULATION The benefits of surgical simulation are
Using Simulation to Design Control Strategies for Robotic No-Scar Surgery
Using Simulation to Design Control Strategies for Robotic No-Scar Surgery Antonio DE DONNO 1, Florent NAGEOTTE, Philippe ZANNE, Laurent GOFFIN and Michel de MATHELIN LSIIT, University of Strasbourg/CNRS,
Lecture 6: Kinesthetic haptic devices: Control
ME 327: Design and Control of Haptic Systems Autumn 2018 Lecture 6: Kinesthetic haptic devices: Control Allison M. Okamura Stanford University important stability concepts instability / limit cycle oscillation
Haptic interaction. Ruth Aylett
Haptic interaction Ruth Aylett Contents Haptic definition Haptic model Haptic devices Measuring forces Haptic Technologies Haptics refers to manual interactions with environments, such as sensorial exploration
Haptic Discrimination of Perturbing Fields and Object Boundaries
Haptic Discrimination of Perturbing Fields and Object Boundaries Vikram S. Chib Sensory Motor Performance Program, Laboratory for Intelligent Mechanical Systems, Biomedical Engineering, Northwestern Univ.
2. Introduction to Computer Haptics
2. Introduction to Computer Haptics Seungmoon Choi, Ph.D. Assistant Professor Dept. of Computer Science and Engineering POSTECH Outline Basics of Force-Feedback Haptic Interfaces Introduction to Computer
Telemanipulation and Telestration for Microsurgery Summary
Telemanipulation and Telestration for Microsurgery Summary Microsurgery presents an array of problems. For instance, current methodologies of Eye Surgery requires freehand manipulation of delicate structures
Virtual and Augmented Reality techniques embedded and based on a Operative Microscope. Training for Neurosurgery.
Virtual and Augmented Reality techniques embedded and based on a Operative Microscope. Training for Neurosurgery. 1 M. Aschke 1, M.Ciucci 1,J.Raczkowsky 1, R.Wirtz 2, H. Wörn 1 1 IPR, Institute for Process
TRENDS IN SURGICAL ROBOTICS
TRENDS IN SURGICAL ROBOTICS HANNES BLEULER, MOHAMED BOURI, LAURA SANTOS-CARRERAS, SIMON GALLO, ALI SENGÜL, GIULIO ROGNINI, REYMOND CLAVEL * Abstract. Surgical Robotics today is essentially about two families
Department of Robotics Ritsumeikan University
Department of Robotics Ritsumeikan University Shinichi Hirai Dept. Robotics Ritsumeikan Univ. Hanoi Institute of Technology Hanoi, Vietnam, Dec. 20, 2008 http://www.ritsumei.ac.jp/se/rm/robo/index-e.htm
Benefits of using haptic devices in textile architecture
28 September 2 October 2009, Universidad Politecnica de Valencia, Spain Alberto DOMINGO and Carlos LAZARO (eds.) Benefits of using haptic devices in textile architecture Javier SANCHEZ *, Joan SAVALL a
Using Real Objects for Interaction Tasks in Immersive Virtual Environments
Using Objects for Interaction Tasks in Immersive Virtual Environments Andy Boud, Dr. VR Solutions Pty. Ltd. andyb@vrsolutions.com.au Abstract. The use of immersive virtual environments for industrial applications
Performance Analysis of Steady-Hand Teleoperation versus Cooperative Manipulation
Performance Analysis of Steady-Hand Teleoperation versus Cooperative Manipulation Izukanne Emeagwali, Panadda Marayong, Jake J. Abbott, and Allison M. Okamura Engineering Research Center for Computer-Integrated
Omni-Directional Catadioptric Acquisition System
Technical Disclosure Commons Defensive Publications Series December 18, 2017 Omni-Directional Catadioptric Acquisition System Andreas Nowatzyk Andrew I. Russell Follow this and additional works at: http://www.tdcommons.org/dpubs_series
Robots in the Field of Medicine
Robots in the Field of Medicine Austin Gillis and Peter Demirdjian Malden Catholic High School 1 Pioneers Robots in the Field of Medicine The use of robots in medicine is where it is today because of four
Virtual Reality Based Training to resolve Visio-motor Conflicts in Surgical Environments
HAVE 2008 IEEE International Workshop on Haptic Audio Visual Environments and their Applications Ottawa Canada, 18-19 October 2008 Virtual Reality Based Training to resolve Visio-motor Conflicts in Surgical
Towards Objective Surgical Skill Evaluation with Hidden. Markov Model-based Motion Recognition. Todd Edward Murphy
Towards Objective Surgical Skill Evaluation with Hidden Markov Model-based Motion Recognition by Todd Edward Murphy An essay submitted to The Johns Hopkins University in conformity with the requirements
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING,
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 215 1 Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery Claudio Pacchierotti, Domenico Prattichizzo, Senior Member,