A real-time haptic interface for interventional radiology procedures.
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.
Moix
Thomas
T
Laboratoire de Systèmes Robotiques, EPFL, ME.B3, Station 9, 1015 Lausanne, Switzerland.
Ilic
Dejan
D
Fracheboud
Blaise
B
Zoethout
Jurjen
J
Bleuler
Hannes
H
D006801:Humans; D015641:Radiography, Interventional / Q000379:methods*; D013557:Switzerland; D014110:Touch; D014584:User-Computer Interface