Simulating a Syringe Behaviour Using a Pneumatic Cylinder Haptic Interface - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Control Engineering Practice Année : 2019

Simulating a Syringe Behaviour Using a Pneumatic Cylinder Haptic Interface

Résumé

Mastering medical gestures, such as epidural needle insertion, requires much practice. Haptic interfaces can be efficient training solutions. Nevertheless, they must provide users with an accurate experience for an effective training. This article introduces a control framework that turns a pneumatic cylinder into a haptic interface able to simulate a syringe and more specifically the loss of resistance phenomenon encountered during an epidural needle insertion. To achieve this, the framework switches between two control laws (position and force tracking) according to the system state. Experiments involving two anesthetists confirm the practicality of this system for hands-on training or rehearsal purposes.
Fichier principal
Vignette du fichier
CEP2019_SENAC (1).pdf (4.1 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02176436 , version 1 (12-09-2019)

Identifiants

Citer

Thibault Senac, Arnaud Lelevé, Richard Moreau, Laurent Krähenbühl, Florent Sigwalt, et al.. Simulating a Syringe Behaviour Using a Pneumatic Cylinder Haptic Interface. Control Engineering Practice, 2019, 90, pp.231-240. ⟨10.1016/j.conengprac.2019.07.005⟩. ⟨hal-02176436⟩
144 Consultations
101 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More