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Haptics Haptics Haptic : Haptic : Haptic and Tactile Feedback Haptic and Tactile Feedback Relating to or based on the sense of touch. Relating to or based on the sense of touch. Force feedback Haptic feedback M. Cenk Cavusoglu, PhD

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SLIDE 1

Haptic and Tactile Feedback Haptic and Tactile Feedback

  • M. Cenk Cavusoglu, PhD
  • M. Cenk Cavusoglu, PhD

cavusoglu@case.edu cavusoglu@case.edu

Case Western Reserve University Case Western Reserve University

  • Dept. of Electrical Eng. and Computer
  • Dept. of Electrical Eng. and Computer Sci

Sci. . http://vorlon.cwru.edu/~mcc14/ http://vorlon.cwru.edu/~mcc14/ http://simcen.usuhs.mil/miccai2003 http://simcen.usuhs.mil/miccai2003

Simulation for Medical Training – MICCAI 2003

Haptics Haptics

  • Haptic :

Haptic :

Relating to or based on the sense of touch. Relating to or based on the sense of touch.

Force feedback Tactile feedback Haptic feedback

  • Surgical simulation as haptic interaction

with virtual surgical environments

Simulation for Medical Training – MICCAI 2003

Research Issues in Haptic Research Issues in Haptic Interfacing to Virtual Environments Interfacing to Virtual Environments

  • Haptic interface devices

Haptic interface devices

  • Stability of haptic interaction with virtual

Stability of haptic interaction with virtual environments environments

  • Simulation of stiff walls

Simulation of stiff walls

  • Haptic rendering of surface texture

Haptic rendering of surface texture

  • Haptic interaction with deformable bodies

Haptic interaction with deformable bodies

  • Realistic modeling of tool

Realistic modeling of tool-

  • tissue interaction

tissue interaction

– – Cutting, suturing, needle insertion Cutting, suturing, needle insertion

  • Tactile sensing and display

Tactile sensing and display

Simulation for Medical Training – MICCAI 2003

Force Feedback Haptic Devices Force Feedback Haptic Devices

Commercial Systems: Commercial Systems:

  • Phantom

Phantom

– – 3 DOF and 6 DOF versions 3 DOF and 6 DOF versions

  • Immersion

Immersion

– – Impulse Engine Impulse Engine – – CathSim CathSim AccuTouch AccuTouch

» » Endovascular Endovascular » » Bronchoscopy Bronchoscopy

– – Laparoscopic Interface Laparoscopic Interface

  • Freedom 6S

Freedom 6S

– – 6 DOF force feedback 6 DOF force feedback

Simulation for Medical Training – MICCAI 2003

Generation of Force Feedback Generation of Force Feedback

Simulation for Medical Training – MICCAI 2003

Haptic Interaction with Haptic Interaction with Deformable Bodies in Deformable Bodies in VE’s VE’s

  • Deformable bodies are simulated with very high

Deformable bodies are simulated with very high

  • rder dynamical models
  • rder dynamical models
  • Haptic interaction require bandwidth of ~1kHz,

Haptic interaction require bandwidth of ~1kHz, but these high order models can only be simulated but these high order models can only be simulated at ~10Hz at ~10Hz

  • This affects the stability and fidelity of interaction

This affects the stability and fidelity of interaction

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SLIDE 2

Simulation for Medical Training – MICCAI 2003

Simulation Schemes Simulation Schemes

Simulation for Medical Training – MICCAI 2003

Demonstration of the Problem Demonstration of the Problem

  • Interaction with a

Interaction with a nonlinear spring in nonlinear spring in

  • ne dimension
  • ne dimension

– – 10 Hz model update 10 Hz model update – – 1 kHz haptic update 1 kHz haptic update F x F x

Simulation for Medical Training – MICCAI 2003

Demonstration of the Problem Demonstration of the Problem

Simulation for Medical Training – MICCAI 2003

Low Order Linear Approximation Low Order Linear Approximation to Model to Model Intersample Intersample Behavior Behavior

Simulation for Medical Training – MICCAI 2003

Model Reduction Model Reduction

  • 12x12 2

12x12 2-

  • D lumped

D lumped element model element model

– – 2 input 2 output 2 input 2 output dynamical system dynamical system – – 524 524th

th order dynamics

  • rder dynamics
  • Balanced model

Balanced model reduction reduction

– – 10 10th

th order approximation

  • rder approximation

with less than 1% error with less than 1% error

Simulation for Medical Training – MICCAI 2003

Model Reduction Model Reduction

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SLIDE 3

Simulation for Medical Training – MICCAI 2003

Reduced Order Model Is a Local Reduced Order Model Is a Local Approximation Approximation

Simulation for Medical Training – MICCAI 2003

Constructing a Local Model in Constructing a Local Model in Real Time Real Time

Simulation for Medical Training – MICCAI 2003

Constructing a Local Model in Constructing a Local Model in Real Time Real Time

Simulation for Medical Training – MICCAI 2003

Implementation Implementation

  • 6x6x6 3

6x6x6 3-

  • D model

D model

  • Simulation run on a

Simulation run on a dual processor SGI dual processor SGI

  • ctane
  • ctane
  • C++, OpenGL

C++, OpenGL

  • Phantom

PhantomTM

TM v1.5 as

v1.5 as the haptic interface the haptic interface

  • 20 Hz model update

20 Hz model update

  • 1 kHz haptic update

1 kHz haptic update

Simulation for Medical Training – MICCAI 2003

Stability Implications Stability Implications

  • Update rate of

Update rate of simulation is a simulation is a critical factor for critical factor for stability of stability of interaction. interaction.

  • 1 kHz haptic

1 kHz haptic simulation instead of simulation instead of 10 Hz improves 10 Hz improves stability. stability.

  • Oscillatory behavior

Oscillatory behavior present in low present in low frequency simulation frequency simulation is not observed. is not observed.

Simulation for Medical Training – MICCAI 2003

Discussion Discussion

  • This method is applicable only if the local

This method is applicable only if the local modes are dominant. modes are dominant.

  • Interaction stability is improved

Interaction stability is improved significantly. significantly.

  • It is informative to study other local models.

It is informative to study other local models.

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SLIDE 4

Simulation for Medical Training – MICCAI 2003

Other Methods for Generation of Other Methods for Generation of Haptic Feedback Haptic Feedback

  • Constraint

Constraint-

  • Based Methods

Based Methods

( (Zilles Zilles and Salisbury 1995) and Salisbury 1995)

  • Planar and Spherical Local Approximations

Planar and Spherical Local Approximations

( (d’Aulignac d’Aulignac et al. 2000) et al. 2000)

  • Norton Equivalent Models

Norton Equivalent Models

( (Astley Astley and Hayward 1998) and Hayward 1998)

  • Force Fields

Force Fields

(Montgomery et al. 2002) (Montgomery et al. 2002)

Simulation for Medical Training – MICCAI 2003

Modeling of Needle Insertion Modeling of Needle Insertion

Coming up in the Tissue Modeling section of Coming up in the Tissue Modeling section of the tutorial ! the tutorial !

Simulation for Medical Training – MICCAI 2003

Human Factors for Enhanced Human Factors for Enhanced Force Feedback in MIS Force Feedback in MIS

Simulation for Medical Training – MICCAI 2003

Simulated Surface Compliance Discrimination Simulated Surface Compliance Discrimination

  • Psychophysics literature on compliance has measured

Psychophysics literature on compliance has measured difference thresholds difference thresholds

  • Surgeons often need to detect spatial variation in surface

Surgeons often need to detect spatial variation in surface compliance, e.g. to detect embedded lesion compliance, e.g. to detect embedded lesion

  • Two tasks:

Two tasks:

– – spatial variation in compliance spatial variation in compliance – – temporal oscillation in force temporal oscillation in force Force Stimuli Compliance Stimuli

Simulation for Medical Training – MICCAI 2003

Methods Methods

  • Phantom 1.5 haptic interface

Phantom 1.5 haptic interface

  • Adaptive 2

Adaptive 2-

  • down 1

down 1-

  • up

up procedure (corresponds to procedure (corresponds to 71% accuracy) 71% accuracy)

  • 8 subjects

8 subjects

  • 3 mean compliance levels:

3 mean compliance levels: 2, 4, and 8 mm/N 2, 4, and 8 mm/N

  • 3 mean force levels:

3 mean force levels: 0.5, 1, and 2 N 0.5, 1, and 2 N

Simulation for Medical Training – MICCAI 2003

Compliance Discrimination and Contrast Sensitivity Compliance Discrimination and Contrast Sensitivity

Experimental Results from Dhruv and Tendick (2000)

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SLIDE 5

Simulation for Medical Training – MICCAI 2003

Tactile Sensing and Display Tactile Sensing and Display

Simulation for Medical Training – MICCAI 2003

Tactile Sensing and Display Tactile Sensing and Display

8x8 1mm2 Tactile Sensor Array

Image courtesy of Gray and Fearing

Simulation for Medical Training – MICCAI 2003

Tactile Display Technology Tactile Display Technology

Images courtesy of Fearing et al. Simulation for Medical Training – MICCAI 2003

Human Factors in Tactile Sensing Human Factors in Tactile Sensing and Display and Display

  • Do we need a tactile display capable of displaying shear

Do we need a tactile display capable of displaying shear stress ? stress ?

Experimental results from Moy and Fearing (1998)

Simulation for Medical Training – MICCAI 2003

Tactile Feedback Tactile Feedback

  • SMA based tactile

SMA based tactile display display

  • DC servomotor based

DC servomotor based tactile display tactile display

Images courtesy of Howe et al. Simulation for Medical Training – MICCAI 2003

Tactile Feedback Tactile Feedback

  • Vibrotactile

Vibrotactile Feedback Feedback

Images courtesy of Howe et al.

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SLIDE 6

Simulation for Medical Training – MICCAI 2003

References References

Simulation for Medical Training – MICCAI 2003

References References

Commercial Force Feedback Haptic Devices Commercial Force Feedback Haptic Devices

  • Sensable

Sensable Technologies, Inc. ( Technologies, Inc. ( http://www.sensable.com http://www.sensable.com ) )

  • Immersion Medical, Inc. (

Immersion Medical, Inc. ( http://www.immersion.com http://www.immersion.com ) )

  • MPB Technologies, Inc.(

MPB Technologies, Inc.( http:// http://www.mpbtechnologies.ca www.mpbtechnologies.ca ) )

Haptic Interaction with Deformable Bodies Haptic Interaction with Deformable Bodies

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based god-

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haptic display. In haptic display. In Proceedings of the IEEE/RSJ International Conference on Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS'95), Intelligent Robotics and Systems (IROS'95), pages 146 pages 146-

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Astley and V. Hayward. and V. Hayward. Multirate Multirate haptic simulation achieved by coupling haptic simulation achieved by coupling finite element meshes through finite element meshes through norton norton equivalents. In

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Simulation for Medical Training – MICCAI 2003

References References

Simulation of Stiff Walls Simulation of Stiff Walls

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