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PubMed · 15718754

A real-time haptic interface for interventional radiology procedures.

Thomas Moix·Dejan Ilic·Blaise Fracheboud·Jurjen Zoethout·Hannes Bleuler
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Abstract

Interventional Radiology (IR) is a minimally-invasive surgery technique (MIS) where guidewires and catheters are steered in the vascular system under X-ray imaging. In order to perform these procedures, a radiologist has to be correctly trained to master hand-eye coordination, instrument manipulation and procedure protocols. This paper proposes a computer-assisted training environment dedicated to IR. The system is composed of a virtual reality (VR) simulation of the anatomy of the patient linked to a robotic interface providing haptic force feedback.The paper focuses on the requirements, design and prototyping of a specific part of the haptic interface dedicated to catheters. Translational tracking and force feedback on the catheter is provided by two cylinders forming a friction drive arrangement. The whole friction can be set in rotation with an additional motor providing torque feedback. A force and a torque sensor are integrated in the cylinders for direct measurement on the catheter enabling disturbance cancellation with a close-loop force control strategy.

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HumansRadiography, InterventionalSwitzerlandTouchUser-Computer InterfaceJournal ArticleResearch Support, Non-U.S. Gov't

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Thomas Moix, Dejan Ilic, Blaise Fracheboud, Jurjen Zoethout, Hannes Bleuler. 2005. A real-time haptic interface for interventional radiology procedures.. https://pubmed.ncbi.nlm.nih.gov/15718754/

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