Abstract
Virtual Reality technology takes in an increasingly prominent role in modern medical training programs. The fidelity of the Virtual Reality environment is of crucial importance and directly relates to the quality of skill transfer. To train interventions that rely on physical interaction with the patient, high-quality haptic feedback should be provided. Palpation is a prototypical example of an important medical skill relying heavily on physical interaction. Since the interaction is quite involved and thus complex to render, very few training systems have attempted to train palpation so far and none of those provide a truly natural experience. In this work a novel haptic interface for free-hand palpation is presented. The interface follows the principle of an encountered-type robot replicating more naturally the actual palpation procedure. The concept and design of this new development are introduced. A control method to render spatially distributed kinaesthetic information is explained next. Experimental results give a proof-of-principle indicating that this approach might lead towards a more natural virtual palpation experience.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Carignan, C.R., Naylor, M.P., Roderick, S.N.: Controlling shoulder impedance in a rehabilitation arm exoskeleton. In: 2008 IEEE International Conference on Robotics and Automation ICRA 2008, pp. 2453–2458, May 2008
Coles, T.R., Meglan, D., John, N.W.: The role of haptics in medical training simulators: a survey of the state of the art. IEEE Trans. Haptics 4(1), 51–66 (2011)
Furukawa, T., Inoue, K., Takubo, T., Arai, T.: Encountered-type visual haptic display using flexible sheet. In: ICRA2007, 10–14 April 2007
Haberal, I., Celik, H., Göçmen, H., Akmansu, H., Yörük, M., Ozeri, C.: Which is important in the evaluation of metastatic lymph nodes in head and neck cancer: palpation, ultrasonography, or computed tomography? Otolaryngol. Head Neck Surg.: Official J. Am. Acad. Otolaryngol. Head Neck Surg. 130(2), 197–201 (2004)
Khatchatourov, A., Castet, J., Florens, J.-L., Luciani, A., Lenay, C.: Integrating tactile and force feedback for highly dynamic tasks: technological, experimental and epistemological aspects. Interact. Comput. 21, 26–37 (2009)
Kim, S.-Y., Park, J., Kwon, D.-S.: Palpation simulator for laparoscopic surgery with haptic feedback. In: Proceedings of the Second International Conference Biomedical Engineering, pp. 478–482 (2004)
Liu, Z., Zhu, Y., Zhao, J.: Design and implementation of a finger haptic device for large-scale force-tactile hybrid haptic rendering. In: 2012 IEEE International Conference on Information and Automation, pp. 709–714. IEEE, June 2012
Mahvash, M., Gwilliam, J., Agarwal, R., Vagvolgyi, B., Su, L.-M., Yuh, D.D., Okamura, A.M.: Force-feedback surgical teleoperator: controller design and palpation experiments. In: 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 465–471. IEEE, March 2008
McNeely, W.A.: Robotic graphics: a new approach to force feedback for virtual reality. In: Proceedings of IEEE Virtual Reality Annual International Symposium, pp. 336–341. IEEE (1993)
Willaert, B., Corteville, B., Van Vlem, J., Vanwynsberghe, K., Reynaerts, D., Van Brussel, H.: A multi-purpose haptic device for research on physical human-robot interaction. In: 13th International Conference on New Actuators, Bremen, Germany, pp. 530–533 (2012)
Yokokohji, Y., Kinoshita, J., Yoshikawa, T.: Path planning for encountered-type haptic devices that render multiple objects in 3D space. In: 2012 Proceedings IEEE Virtual Reality, pp. 271–278 (2001)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Portolés Diez, S., Vander Poorten, E.B., Borghesan, G., Reynaerts, D. (2014). Towards Palpation in Virtual Reality by an Encountered-Type Haptic Screen. In: Auvray, M., Duriez, C. (eds) Haptics: Neuroscience, Devices, Modeling, and Applications. EuroHaptics 2014. Lecture Notes in Computer Science(), vol 8618. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44193-0_33
Download citation
DOI: https://doi.org/10.1007/978-3-662-44193-0_33
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-44192-3
Online ISBN: 978-3-662-44193-0
eBook Packages: Computer ScienceComputer Science (R0)