title: A haptic device for guide wire in interventional radiology procedures.
abstract: Interventional Radiology (IR) is a minimally invasive procedure where thin tubular instruments, guide wires and catheters, are steered through the patient's vascular system under X-ray imaging. In order to perform these procedures, a radiologist has to be trained to master hand-eye coordination, instrument manipulation and procedure protocols. The existing simulation systems all have major drawbacks: the use of modified instruments, unrealistic insertion lengths, high inertia of the haptic device that creates a noticeably degraded dynamic behavior or excessive friction that is not properly compensated for. In this paper we propose a quality training environment dedicated to IR. The system is composed of a virtual reality (VR) simulation of the patient's anatomy linked to a robotic interface providing haptic force feedback. This paper focuses on the requirements, design and prototyping of a specific haptic interface for guide wires.
authors.affiliation: Laboratoire de Systèmes Robotiques, Ecole Polytechnique Fédérale de Lausanne, 1015 Lausanne, Switzerland. Thomas.moix@a3.epfl.ch
authors.forename: Thomas
authors.initials: T
authors.lastname: Moix
authors.forename: Dejan
authors.initials: D
authors.lastname: Ilic
authors.forename: Hannes
authors.initials: H
authors.lastname: Bleuler
authors.forename: Jurjen
authors.initials: J
authors.lastname: Zoethout
mesh_terms: D002404:Catheterization / Q000379:methods; D003198:Computer Simulation; D004501:Education, Medical; D005246:Feedback; D015641:Radiography, Interventional / Q000295:instrumentation*; D013557:Switzerland; D014110:Touch