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Journal articles on the topic 'Phantom haptic device'
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1
Baser, Ozgur, and Erhan Ilhan Konukseven. "Kinematic Calibration of PHANTOM Premium 1.5/6DOF Haptic Device." Key Engineering Materials 486 (July 2011): 205–8. http://dx.doi.org/10.4028/www.scientific.net/kem.486.205.
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Precise positioning and precise force control requirement in haptic devices necessitate the calibration of the device. Since force control algorithms in haptic interfaces employ Jacobian matrix that includes kinematic model parameters, calibration is not only important for pose accuracy but also for force control. The deviation in kinematic parameters and joint transmission errors are main reasons disturbing the calibration of the haptic devices. Capstan drives and parallelogram mechanisms are preferred to use for actuation in haptic device design. Their transmission errors should be estimated in the calibration. This paper presents a simulation study including the estimation of kinematic parameters and transmission errors due to the capstan drives and parallelogram mechanism for a PHANTOM Premium haptic device.
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Hribar, Ales, Blaz Koritnik, and Marko Munih. "Phantom haptic device upgrade for use in fMRI." Medical & Biological Engineering & Computing 47, no. 6 (March 5, 2009): 677–84. http://dx.doi.org/10.1007/s11517-009-0462-z.
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Taati, Babak, Amir M. Tahmasebi, and Keyvan Hashtrudi-Zaad. "Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device." Presence: Teleoperators and Virtual Environments 17, no. 4 (August 1, 2008): 327–43. http://dx.doi.org/10.1162/pres.17.4.327.
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The dynamics of a PHANToM Premium 1.5A haptic device from SensAble Technologies, Inc. is experimentally identified and analyzed for different installations of the device and its accessories, such as the typical upright, upside down, with gimbal and counterbalance weight, and with force sensor.1 An earlier formulation of the robot dynamic model is augmented with a friction model, linearly parameterized, and experimentally identified using least squares. The identified dynamics are experimentally evaluated with an inverse dynamics controller and verified by comparing user hand force estimates with the measured values. The contribution of different dynamic terms such as inertial, Coriolis and centrifugal, gravitational, and Coulomb and viscous friction are demonstrated and discussed. The identified model can be used for a variety of haptic applications, such as hand force estimation, accurate active gravity compensation and counterbalance weight determination for various installation conditions, and model-based control for haptic simulation and teleoperation.
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Baser, Ozgur, and E. Ilhan Konukseven. "Kinematic model calibration of a 7-DOF capstan-driven haptic device for pose and force control accuracy improvement." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 227, no. 6 (September 13, 2012): 1328–40. http://dx.doi.org/10.1177/0954406212460150.
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The literature on kinematic calibration of industrial robots and haptic devices suggests that proper model calibration is indispensable for accurate pose estimation and precise force control. Despite the variety of studies in the literature, the effects of transmission errors on positioning accuracy or the enhancement of force control by kinematic calibration is not fully studied. In this article, an easy to implement kinematic calibration method is proposed for the systems having transmission errors. The presented method is assessed on a 7-DOF Phantom-like haptic device where transmission errors are inherently present due to the use of capstan drives. Simulation results on pose estimation accuracy and force control precision are backed up by experiments.
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Hribar, Ales, and Marko Munih. "Development and testing of fMRI-compatible haptic interface." Robotica 28, no. 2 (December 10, 2009): 259–65. http://dx.doi.org/10.1017/s0263574709990646.
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SUMMARYThis paper presents the development and testing of a haptic interface compatible with a functional magnetic resonance imaging (fMRI) environment for neuroscience human motor control studies. A carbon fiber extension enables us to use the widely accepted and available haptic device Phantom 1.5.In the first part of the paper development of the mechanical extension together with its kinematic and dynamic models are presented. The second part is focused on testing of the extended haptic interface. The experiment's results both inside and outside the fMRI environment are presented. Tests outside a scanner have shown that the mechanical extension has no notable effect on a subject performance. Experiments with the scanner have confirmed electromagnetic compatibility of the extended haptic system.At the end it is concluded that the extended haptic device is fully compatible with the fMRI environment, and a virtual environment task that will allow neuroscientists to study a human motor control is proposed.
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Shah, Faraz, and Ilia G. Polushin. "Design of Telerobotic Drilling Control System with Haptic Feedback." Journal of Control Science and Engineering 2013 (2013): 1–15. http://dx.doi.org/10.1155/2013/901610.
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The paper deals with the design of control algorithms for virtual reality based telerobotic system with haptic feedback that allows for the remote control of the vertical drilling operation. The human operator controls the vertical penetration velocity using a haptic device while simultaneously receiving the haptic feedback from the locally implemented virtual environment. The virtual environment is rendered as a virtual spring with stiffness updated based on the estimate of the stiffness of the rock currently being cut. Based on the existing mathematical models of drill string/drive systems and rock cutting/penetration process, a robust servo controller is designed which guarantees the tracking of the reference vertical penetration velocity of the drill bit. A scheme for on-line estimation of the rock intrinsic specific energy is implemented. Simulations of the proposed control and parameter estimation algorithms have been conducted; consequently, the overall telerobotic drilling system with a human operator controlling the process using PHANTOM Omni haptic device is tested experimentally, where the drilling process is simulated in real time in virtual environment.
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Li, Jia Lu, Ai Guo Song, and Xiao Rui Zhang. "Stability Analysis and Improvement of Virtual Wall Model." Key Engineering Materials 464 (January 2011): 183–86. http://dx.doi.org/10.4028/www.scientific.net/kem.464.183.
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Sampled-data system’s nature is the main factor that causes virtual wall to demonstrate active (non-passive) behavior, destroying the illusion of reality. To enhance the stability of haptic rendering by virtual wall model, a novel spring-impulse model based on energy conversation and momentum conversation is proposed. In the model, an impulse in the opposite direction of avatar’s velocity is exerted on avatar at the instant from inner of virtual wall back to balance position during unstable state. This resistant forces eliminate extra work to reduce the non-passive behaviors of the haptic system, which lead to improved realistic rigid perceptions and system stability. The experiments have verified the effectiveness of our spring-impulse method in a virtual stiff-wall prototype system via a Phantom Omni haptic device.
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Takada, Hiroshi, Norihiro Abe, Yoshimasa Kinosita, Hirokazu Taki, Tatsushi Tokuyasu, and Shoujie He. "Modeling and deforming a virtual dense elastic object with the haptic device PHANToM." Artificial Life and Robotics 14, no. 2 (November 2009): 150–53. http://dx.doi.org/10.1007/s10015-009-0643-8.
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Moreira, Pedro, Leanne Kuil, Pedro Dias, Ronald Borra, and Sarthak Misra. "Tele-Operated MRI-Guided Needle Insertion for Prostate Interventions." Journal of Medical Robotics Research 04, no. 01 (March 2019): 1842003. http://dx.doi.org/10.1142/s2424905x18420035.
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Prostate cancer is one of the leading causes of death in men. Prostate interventions using magnetic resonance imaging (MRI) benefits from high tissue contrast if compared to other imaging modalities. The Minimally Invasive Robotics In An MRI environment (MIRIAM) robot is an MRI-compatible system able to steer different types of needles towards a point of interest using MRI guidance. However, clinicians can be reluctant to give the robot total control of the intervention. This work integrates a haptic device in the MIRIAM system to allow input from the clinician during the insertion. A shared control architecture is achieved by letting the clinician control the insertion depth via the haptic device, while the robotic system controls the needle orientation. The clinician receives haptic feedback based on the insertion depth and tissue characteristics. Four control laws relating the motion of the master robot (haptic device) to the motion of the slave robot (MIRIAM robot) are presented and evaluated. Quantitative and qualitative results from 20 human subjects demonstrate that the squared-velocity control law is the most suitable option for our application. Additionally, a pre-operative target localization algorithm is presented in order to provide the robot with the target location. The target localization and reconstruction algorithm are validated in phantom and patient images with an average dice similarity coefficient (DSC) of 0.78. The complete system is validated through experiments by inserting a needle towards a target within the MRI scanner. Four human subjects perform the experiment achieving an average targeting error of 3.4[Formula: see text]mm.
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Suphama, Patharawut, and Ratchatin Chancharoen. "The Performance of a Delta Telerobot." Applied Mechanics and Materials 619 (August 2014): 236–41. http://dx.doi.org/10.4028/www.scientific.net/amm.619.236.
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The paper investigates the performance of a delta telerobot that a human operator works on a given task through the eye and hand of the robot. The Delta robot is installed with eye in hand camera and controlled by an open architecture controller that is configured to control the robot to follow the motion of the selectable HMI devices. The evaluation task is a three dimensional “connect the dot” game in which the robot is tele-operated with visual feedback to go point to point from position 1 to 6. The task performance is used to evaluate the performance of the total system that involves a robot, human factors, HMI, and environment. Three HMI devices including a manual pulse generator, Kinect camera, and a PHANToM OMNI Haptic Device are benchmarked. The result demonstrates that the Haptic with guided force is the best when compared to the others. In addition, the telerobot system can improve the time to completion by 30% and positioning accuracy by 50%, compared to human in the human scaled task. Then we investigate the effect of time delay of the delta telerobot with the Haptic. The result demonstrates that the time delay, that exceeds 100 ms, is proportion to both time to completion and positioning error in telerobot task, while the time delay below 100 ms gives no effect.
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Zhang, Songyuan, Qiang Fu, Shuxiang Guo, and Yili Fu. "Coordinative Motion-based Bilateral Rehabilitation Training System with Exoskeleton and Haptic Devices for Biomedical Application." Micromachines 10, no. 1 (December 24, 2018): 8. http://dx.doi.org/10.3390/mi10010008.
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According to the neuro-rehabilitation theory, compared with unilateral training, bilateral training is proven to be an effective method for hemiparesis, which affects the most part of stroke patients. In this study, a novel bilateral rehabilitation training system, which incorporates a lightweight exoskeleton device worn on the affected limb; a haptic device (Phantom Premium), which is used for generating a desired tactile feedback for the affected limb; and a VR (virtual reality) graphic interface, has been developed. The use of VR technology during rehabilitation can provide goal directed tasks with rewards and motivate the patient to undertake extended rehabilitation. This paper is mainly focused on elbow joint training, and other independent joints can be trained by easily changing the VR training interface. The haptic device is adopted to enable patients to use their own decision making abilities with a tactical feedback. Integrated with a VR-based graphic interface, the goal-oriented task can help to gradually recovery their motor function with a coordinative motion between two limbs. In particular, the proposed system can accelerate neural plasticity and motor recovery in those patients with little muscle strength by using the exoskeleton device. The exoskeleton device can provide from relatively high joint impedance to near-zero impedance, and can provide a partial assist as the patient requires.
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Yan, F. X., Z. X. Hou, Ding Hua Zhang, and Wen Ke Kang. "Virtual Clay Modeling System with 6-DOF Haptic Feedback." Materials Science Forum 628-629 (August 2009): 155–60. http://dx.doi.org/10.4028/www.scientific.net/msf.628-629.155.
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This paper describes an innovative free-form modeling system, Virtual Clay Modeling System (VCMS), in which users can directly manipulate the shape of a virtual object like a clay model in real world. With this system, some disadvantages of interaction with computer aided industry design (CAID) systems can be resolved. In order to enhance the immersion feelings and improve the controlling abilities to cut, paste, and compensate of VCMS, we use Spaceball 5000 and PHANTOM Desktop to assign the set of interaction tasks. During the process of realizing 6 degree-of-freedom (DOF) haptic feedback modeling control, we developed and accomplished the device interfaces with Open Inventor and Qt application framework. VCMS provides us a good immersion of allowing for effective modeling in a virtual world.
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YANG, XIAOLI, and YOUN K. KIM. "HAND MANIPULATION TRAINING IN HAPTIC VIRTUAL ENVIRONMENTS." International Journal of Information Acquisition 05, no. 03 (September 2008): 269–81. http://dx.doi.org/10.1142/s021987890800165x.
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Continuing advances in virtual reality (VR) technology with respect to the new addition of force and touch feedbacks have enhanced VR realism and led to the development of many useful and accessible VR systems. One of the emerging research fields is in rehabilitation training. This paper introduces a virtual reality-based hand manipulation training system with three applications: virtual writing, virtual painting and virtual dialing. The system is mainly for training hand movement precision, speed, force, and direction control. A haptic device — PHANTOM Premium 1.0 is used to give the user immediate force feedbacks to feel immersed in the virtual environment during the training session. A new collision detection method is developed for accurate and rapid calculation of the interaction between the haptic and virtual environments. The implementation performances are calculated and given to the user in real time. The practicing results are also saved for evaluation and supervision by the specialist.
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O’Malley, Marcia K., and Gina Upperman. "A Study of Perceptual Performance in Haptic Virtual Environments." Journal of Robotics and Mechatronics 18, no. 4 (August 20, 2006): 467–75. http://dx.doi.org/10.20965/jrm.2006.p0467.
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The performance levels of human subjects in size identification and size discrimination experiments in both real and virtual environments are presented. The virtual environments are displayed with a PHANToM desktop three degree-of-freedom haptic interface. Results indicate that performance of the size identification and size discrimination tasks in the virtual environment is comparable to that in the real environment, implying that the haptic device does a good job of simulating reality for these tasks. Additionally, performance in the virtual environment was measured at below maximum machine performance levels for two machine parameters. The tabulated scores for the perception tasks in a sub-optimal virtual environment were found to be comparable to that in the real environment, supporting previous claims that haptic interface hardware may be able to convey, for these perceptual tasks, sufficient perceptual information to the user with relatively low levels of machine quality in terms of the following parameters: maximum endpoint force and maximum virtual surface stiffness. Results are comparable to those found for similar experiments conducted with other haptic interface hardware, further supporting this claim. Finally, it was found that varying maximum output force and virtual surface stiffness simultaneously does not have a compounding effect that significantly affects performance for size discrimination tasks.
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Lei, Huang, Hou Zeng-xuan, Guo Chao, Zhang Wei, and Xu Jun. "Haptic Decorating on the Surface of Virtual Clay Model." Mathematical Problems in Engineering 2018 (2018): 1–12. http://dx.doi.org/10.1155/2018/7939706.
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A novel haptic decorating method on the surface of virtual clay model is proposed. The relationship between brush deformation and endured force is researched for the first time by applying the spring-mass model to construct the 3D brush model. Then, the collision detection between virtual hairy brush and virtual clay model is researched based on collision algorithm of weighted average distance. When the hairy brush initially collides with 3D exterior, the tactility is simulated and the interactive virtual painting on the 3D exterior is carried out practically. The 3D brush stroke is formed by superimposing 3D brush footprints along the painting direction and controlling the stress of the brush. The ink quantity in the brush footprint is determined according to the proposed positive correlation between the exerted pressure on brush and outflow ink quantity of the brush. A painting storage method is also presented for storing and displaying 3D stroke painting results. The proposed method has been successfully applied in the 3D virtual painting system based on real-time force feedback technology. With this system, the 3D brush strokes with 3D half-dry and ink diffusion results can be painted with a Phantom Desktop haptic device, which effectively enhance reality to users.
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Banthia, Vikram, Yaser Maddahi, Kourosh Zareinia, Stephen Liao, Tim Olson, Wai-Keung Fung, Subramaniam Balakrishnan, and Nariman Sepehri. "A prototype telerobotic platform for live transmission line maintenance: Review of design and development." Transactions of the Institute of Measurement and Control 40, no. 11 (February 8, 2017): 3273–92. http://dx.doi.org/10.1177/0142331216687021.
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This paper reports technical design of a novel experimental test facility, using haptic-enabled teleoperation of robotic manipulators, for live transmission line maintenance. The goal is to study and develop appropriate techniques in repair overhead power transmission lines by allowing linemen to wirelessly guide a remote manipulator, installed on a crane bucket, to execute dexterous maintenance tasks, such as twisting a tie wire around a cable. Challenges and solutions for developing such a system are outlined. The test facility consists of a PHANToM Desktop haptic device (master site), an industrial hydraulic manipulator (slave site) mounted atop a Stewart platform, and a wireless communication channel connecting the master and slave sites. The teleoperated system is tested under different force feedback schemes, while the base is excited and the communication channel is delayed and/or lossy to emulate realistic network behaviors. The force feedback schemes are: virtual fixture, augmentation force and augmented virtual fixture. Performance of each scheme is evaluated under three measures: task completion time, number of failed trials and displacement of the slave manipulator end-effector. The developed test rig has been shown to be successful in performing haptic-enabled teleoperation for live-line maintenance in a laboratory setting. The authors aim at establishing a benchmark test facility for objective evaluation of ideas and concepts in the teleoperation of live-line maintenance tasks.
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Lian, L. L., Y. H. Chen, and Z. Y. Yang. "Haptic rendering: An approach to tactile property perception in early product design." Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 219, no. 12 (December 1, 2005): 891–902. http://dx.doi.org/10.1243/095440505x32869.
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In today's competitive market place, product designers need to elaborate their design with respect to not only the form and function but also the tactile properties, which make the product safe and comfortable to use. Several examples of these tactile properties are stiffness, surface finish, and trigger actuation force. Because of the expensive redesign processes, requirements on these tactile properties should be considered as constraints and should be brought into the product development cycle as early as possible. However, current visual feedback-based computer-aided design (CAD) systems focus mainly on product geometrical properties, such as dimension and appearance. Tactile properties are difficult or even impossible to be perceived in current CAD systems. In this paper, haptic rendering techniques are introduced as an approach to the perception of tactile properties and hand tool design case studies are demonstrated. With the aid of a force feedback device, Phantom(R), designers can perceive the surface roughness of a handle, the stiffness of a toothbrush, and examine the actuation force of a switch button. With these tools, designers can not only design the form of a product but also evaluate some physical properties of a product design in real time before the product is made, thus shortening the product development cycle.
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Guo, Chao, Zengxuan Hou, Guangqing Yang, and Shuanzhu Zheng. "The Simulation of the Brush Stroke Based on Force Feedback Technology." Mathematical Problems in Engineering 2015 (2015): 1–10. http://dx.doi.org/10.1155/2015/164821.
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A novel simulation method of the brush stroke is proposed by applying force feedback technology to the virtual painting process. The relationship between force and the brush deformation is analyzed, and the spring-mass model is applied to construct the brush model, which can realistically simulate the brush morphological changes according to the force exerted on it. According to the deformation of the brush model at a sampling point, the brush footprint between the brush and the paper is calculated in real time. Then, the brush stroke is obtained by superimposing brush footprints along sampling points, and the dynamic painting of the brush stroke is implemented. The proposed method has been successfully applied to the virtual painting system based on the force feedback technology. In this system, users can implement the painting in real time with a Phantom Desktop haptic device, which can effectively enhance reality to users.
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Khalifa, Alaa, and Ahmed Ramadan. "Intelligent Control System Design for a Teleoperated Endoscopic Surgical Robot." Applied Mechanics and Materials 789-790 (September 2015): 693–99. http://dx.doi.org/10.4028/www.scientific.net/amm.789-790.693.
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This paper concerns with the control system design for a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master and a 4-DOF parallel manipulator (2-PUU_2-PUS) as the slave. PID control algorithm was used to achieve the trajectory tracking, but the error in each actuated joint reached 0.6 mm which is not satisfactory in surgical application. The design of a control algorithm for achieving high trajectory tracking is needed. Simulation on the virtual prototype of the 4-DOF parallel manipulator has been achieved by combining MATLAB/Simulink with ADAMS. Fuzzy logic controller is designed and tested using the interface between ADAMS and MATLAB/Simulink. Signal constraint block adjusted the controller parameters for each actuated prismatic joint to eliminate the overshoot in most of position responses. The simulation results illustrate that the fuzzy logic control algorithm can achieve high trajectory tracking. Also, they show that the fuzzy controller has reduced the error by approximately 50 percent.
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TOKUYASU, Tatsushi, Kenji YUFU, Takashi SHUTO, Norihiro ABE, and Akira MARUI. "J0102-3-4 Automatic generation of Virtual large artery containing dynamic model based on patient medical images and deformation with haptic device Phantom." Proceedings of the JSME annual meeting 2009.6 (2009): 45–46. http://dx.doi.org/10.1299/jsmemecjo.2009.6.0_45.
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Liu, Xuemei, Ruiyi Wang, Yunhua Li, and Dongdong Song. "Deformation of Soft Tissue and Force Feedback Using the Smoothed Particle Hydrodynamics." Computational and Mathematical Methods in Medicine 2015 (2015): 1–10. http://dx.doi.org/10.1155/2015/598415.
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We study the deformation and haptic feedback of soft tissue in virtual surgery based on a liver model by using a force feedback device named PHANTOM OMNI developed by SensAble Company in USA. Although a significant amount of research efforts have been dedicated to simulating the behaviors of soft tissue and implementing force feedback, it is still a challenging problem. This paper introduces a kind of meshfree method for deformation simulation of soft tissue and force computation based on viscoelastic mechanical model and smoothed particle hydrodynamics (SPH). Firstly, viscoelastic model can present the mechanical characteristics of soft tissue which greatly promotes the realism. Secondly, SPH has features of meshless technique and self-adaption, which supply higher precision than methods based on meshes for force feedback computation. Finally, a SPH method based on dynamic interaction area is proposed to improve the real time performance of simulation. The results reveal that SPH methodology is suitable for simulating soft tissue deformation and force feedback calculation, and SPH based on dynamic local interaction area has a higher computational efficiency significantly compared with usual SPH. Our algorithm has a bright prospect in the area of virtual surgery.
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Kennedy, C. W., and J. P. Desai. "A Vision-Based Approach for Estimating Contact Forces: Applications to Robot-Assisted Surgery." Applied Bionics and Biomechanics 2, no. 1 (2005): 53–60. http://dx.doi.org/10.1155/2005/436897.
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The primary goal of this paper is to provide force feedback to the user using vision-based techniques. The approach presented in this paper can be used to provide force feedback to the surgeon for robot-assisted procedures. As proof of concept, we have developed a linear elastic finite element model (FEM) of a rubber membrane whereby the nodal displacements of the membrane points are measured using vision. These nodal displacements are the input into our finite element model. In the first experiment, we track the deformation of the membrane in real-time through stereovision and compare it with the actual deformation computed through forward kinematics of the robot arm. On the basis of accurate deformation estimation through vision, we test the physical model of a membrane developed through finite element techniques. The FEM model accurately reflects the interaction forces on the user console when the interaction forces of the robot arm with the membrane are compared with those experienced by the surgeon on the console through the force feedback device. In the second experiment, the PHANToM haptic interface device is used to control the Mitsubishi PA-10 robot arm and interact with the membrane in real-time. Image data obtained through vision of the deformation of the membrane is used as the displacement input for the FEM model to compute the local interaction forces which are then displayed on the user console for providing force feedback and hence closing the loop.
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Petrini, Francesco Maria, Giacomo Valle, Marko Bumbasirevic, Federica Barberi, Dario Bortolotti, Paul Cvancara, Arthur Hiairrassary, et al. "Enhancing functional abilities and cognitive integration of the lower limb prosthesis." Science Translational Medicine 11, no. 512 (October 2, 2019): eaav8939. http://dx.doi.org/10.1126/scitranslmed.aav8939.
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Lower limb amputation (LLA) destroys the sensory communication between the brain and the external world during standing and walking. Current prostheses do not restore sensory feedback to amputees, who, relying on very limited haptic information from the stump-socket interaction, are forced to deal with serious issues: the risk of falls, decreased mobility, prosthesis being perceived as an external object (low embodiment), and increased cognitive burden. Poor mobility is one of the causes of eventual device abandonment. Restoring sensory feedback from the missing leg of above-knee (transfemoral) amputees and integrating the sensory feedback into the sensorimotor loop would markedly improve the life of patients. In this study, we developed a leg neuroprosthesis, which provided real-time tactile and emulated proprioceptive feedback to three transfemoral amputees through nerve stimulation. The feedback was exploited in active tasks, which proved that our approach promoted improved mobility, fall prevention, and agility. We also showed increased embodiment of the lower limb prosthesis (LLP), through phantom leg displacement perception and questionnaires, and ease of the cognitive effort during a dual-task paradigm, through electroencephalographic recordings. Our results demonstrate that induced sensory feedback can be integrated at supraspinal levels to restore functional abilities of the missing leg. This work paves the way for further investigations about how the brain interprets different artificial feedback strategies and for the development of fully implantable sensory-enhanced leg neuroprostheses, which could drastically ameliorate life quality in people with disability.
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Antoni, Sven-Thomas, Stefan Soltau, Jens Beringhoff, Omer Rajput, Christoph Otte, and Alexander Schlaefer. "Enhancing haptic feedback of subsurfaces during needle insertion." Current Directions in Biomedical Engineering 4, no. 1 (September 1, 2018): 625–28. http://dx.doi.org/10.1515/cdbme-2018-0150.
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AbstractHaptic feedback can be helpful for accurate needle insertion but is complicated by friction on the needle shaft. Concepts to directly measure the forces at the needle tip exist but cause additional cost and complexity. Moreover, haptic devices may show inaccuracies in recreating forces. We present a novel force feedback method that uses needle shaft forces and enhances haptic feedback of subsurfaces based on robotic ultrasound elastography. This approach allows to overcome accuracy limitations of haptic devices. We evaluate our method in a volunteer subject study using recordings from a robotic needle driver setup. We compare haptic feedback based on shaft and enhanced force for the detection of surfaces inside of gelatin phantoms. Using our method, the error of subsurface detection decreased from more than 16 to about 1.7 mm for the first subsurface. A second subsurface was solely detectable using our method with an error of only 1.4 mm. Insertion time decreased by more than 32%. The results indicate that our enhanced sensor is suitable to detect subsurfaces for untrained subjects using a haptic feedback device of limited accuracy.
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Jansson, G., H. Petrie, C. Colwell, D. Kornbrot, J. Fänger, H. König, K. Billberger, A. Hardwick, and S. Furner. "Haptic Virtual Environments for Blind People: Exploratory Experiments with Two Devices." International Journal of Virtual Reality 4, no. 1 (January 1, 1999): 8–17. http://dx.doi.org/10.20870/ijvr.1999.4.1.2663.
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This paper is a fusion of two independent studies investigating related problems concerning the use of haptic virtual environments for blind people: a study in Sweden using a PHANToM 1.5 A and one in the U.K. using an Impulse Engine 3000. In general, the use of such devices is a most interesting option to provide blind people with information about representations of the 3D world, but the restriction at each moment to only one point of contact between observer and virtual object might decrease their effectiveness. The studies investigated the perception of virtual textures, the identification of virtual objects and the perception of their size and angles. Both sighted (blindfolded in one study) and blind people served as participants. It was found (1) that the PHANToM can effectively render textures in the form of sandpapers and simple 3D geometric forms and (2) that the Impulse Engine can effectively render textures consisting of grooved surfaces, as well as 3D objects, properties of which were, however, judged with some over- or underestimation. When blind and sighted participants' performance was compared differences were found that deserves further attention. In general, the haptic devices studied have demonstrated the great potential of force feedback devices in rendering relatively simple environments, in spite of the restricted ways they allow for exploring the virtual world. The results highly motivate further studies of their effectiveness, especially in more complex contexts.
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SONG, GANG, and SHUXIANG GUO. "A NOVEL SELF-ASSISTED REHABILITATION SYSTEM FOR THE UPPER LIMBS BASED ON VIRTUAL REALITY." International Journal of Information Acquisition 03, no. 03 (September 2006): 247–58. http://dx.doi.org/10.1142/s021987890600099x.
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We propose a novel self-assisted rehabilitation system for the upper limbs of stroke patients. The system mainly includes two haptic devices (PHANTOM Omni), an advanced inertial sensor (MTx) and a computer. The inertial sensor is used to get the real-time orientation of one of the manipulator's hands, and the haptic devices are used to get the real-time positions of the manipulator's two hands and generate the appropriate forces that act on the two hands. We have built a virtual force model to get the accurate magnitude and orientation of the forces. With the change of the position and orientation of the manipulator's hands, the magnitude and orientation of the forces will change accordingly. The manipulator operates the styluses of the two haptic devices to control the position and orientation of the virtual object m, so that it can track the virtual object m′, which moves and rotates randomly in 4 degree-of-freedoms (DOF). It is expected to improve the agility and strength of manipulator's hands in this way. Furthermore, one hand can be used to assist the other one in the rehabilitation, so the self-assistance character is included in the system. The advantages of high safety, compaction and self-assistance will make the system suitable for home rehabilitation.
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Mack, Ian, Stuart Ferguson, Karen Rafferty, Stephen Potts, and Alistair Dick. "Interactive force-sensing feedback system for remote robotic laparoscopic surgery." Transactions of the Institute of Measurement and Control 34, no. 4 (March 11, 2011): 376–87. http://dx.doi.org/10.1177/0142331210382943.
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This paper presents the details of a combined hardware/software system, which has been developed to provide haptic feedback for teleoperated laparoscopic surgical robots. Surgical instruments incorporating quantum tunnelling composite (QTC) force measuring sensors have been developed and mounted on a pair of Mitsubishi PA-10 industrial robots. Feedback forces are rendered on pseudo-surgical instruments based on a pair of PHANTOM Omni devices, which are also used to remotely manipulate the robotic arms. Measurements of the behaviour of the QTC sensors during a simulated teleoperated procedure are given. In addition, a method is proposed that can compensate for their non-linear characteristics in order to provide a ‘realistic feel’ to the surgeon through the haptic feedback channel. The paper concludes by explaining how the force feedback channel is combined with a visual feedback channel to enable a surgeon to perform a two-handed surgical procedure better on a remote patient by more accurately controlling a pair of robot arms via a computer network.
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Parisi, David, and Jason Farman. "Tactile temporalities: The impossible promise of increasing efficiency and eliminating delay through haptic media." Convergence: The International Journal of Research into New Media Technologies 25, no. 1 (December 9, 2018): 40–59. http://dx.doi.org/10.1177/1354856518814681.
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In an attempt to help make humans into more efficient and effective information processors, the engineers of mobile communication systems and devices have turned to touch as an alternative pathway for the transmission of communicative messages. This article traces the goal of using touch as a way to speed up communication from the 1950s experiments with military systems for haptic communication to the launch of the Apple Watch in 2015. Using these two technological milieus as bookends for analyzing the co-constitutive relationship between tactility and temporality, we argue that the ever-accelerating pace of human communication – as seen in the attempts at reducing the latency between sender and receiver through haptic communication – produces bodies that are always on and attentive. Ultimately, the disciplining of time and touch is aimed at the production of neoliberal bodies and information subjects whose skin is utilized as an open channel for attention, communication, and labor. However, as we show by examining the persistence of phantom vibrations and the stalled development of Immersion Corporation’s Instinctive Alerts Framework for wearables, the repeated failures of users to properly recognize and differentiate between machine-generated haptic sensations suggest that this attempted transformation of touch into a communicative sense has persistently fallen short of its disciplining aims.
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Yeom, Soonja, Derek L. Choi-Lundberg, Andrew Edward Fluck, and Arthur Sale. "Factors influencing undergraduate students’ acceptance of a haptic interface for learning gross anatomy." Interactive Technology and Smart Education 14, no. 1 (April 18, 2017): 50–66. http://dx.doi.org/10.1108/itse-02-2016-0006.
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Purpose This study aims to evaluate factors influencing undergraduate students’ acceptance of a computer-aided learning resource using the Phantom Omni haptic stylus to enable rotation, touch and kinaesthetic feedback and display of names of three-dimensional (3D) human anatomical structures on a visual display. Design/methodology/approach The software was developed using the software development life cycle, and was tested by students enrolled in various bachelor degrees at three stages of development within the technology acceptance model, action research and design research methodology frameworks, using mixed methods of quantitative and qualitative analysis. Findings The learning system was generally well-accepted, with usefulness (72 ± 18, mean ± standard deviation, 0-100 visual analogue scale) rated higher (p < 0.001) than ease of use (57 ± 22). Ease of use ratings declined across the three versions as modules were added and complexity increased. Students with prior experience with 3D interfaces had higher intention to use the system, and scored higher on identification of anatomical structures. Students with greater kinaesthetic learning preferences tended to rate the system higher. Haptic feedback was considered the best aspect of the system, but students wanted higher spatial resolution and lower response times. Originality/value Previous research relating to haptic devices in medical and health sciences has largely focused on advanced trainees learning surgical or procedural skills. The present research suggests that incorporating haptic feedback into virtual anatomical models may provide useful multisensory information in learning anatomy at the undergraduate level.
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YANG, JING, LINGTAO YU, LAN WANG, HONGYANG LI, and QI AN. "STUDY ON MECHANICAL CHARACTERIZATION OF LIVER TISSUE BASED ON HAPTIC DEVICES FOR VIRTUAL SURGICAL SIMULATION." Journal of Mechanics in Medicine and Biology 16, no. 08 (November 25, 2016): 1640016. http://dx.doi.org/10.1142/s0219519416400169.
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In recent years, virtual surgical simulation has been one of the hot direction of digital medical research, it is mainly used in teaching, training, diagnosis, preoperative planning, rehabilitation and modeling and analysis of surgical instruments. The modeling of soft tissue of human organs is the basis to realize the virtual surgical simulation. The quasi-linear viscoelastic (QLV) theory has been proposed by Fung, and it was widely used for modeling the constitutive equation of soft tissues. The purpose of this study is to determine the mechanical characterization of the liver soft tissue based on the PHANTOM Omni Haptic devices. Five parameters are included in the constitutive equation with QLV theory, which must be determined experimentally. The specimens were obtained from fresh porcine liver tissues in vitro. The liver tissues were cut into 14[Formula: see text]mm[Formula: see text][Formula: see text][Formula: see text]14[Formula: see text]mm[Formula: see text][Formula: see text][Formula: see text]14[Formula: see text]mm cubes. Two types of unconfined compression tests were performed on cube liver specimens. Puncture tests were performed on the complete liver. The material parameters of the QLV constitutive equation were obtained by fitting the experimental data. These parameters will provide the references for the computational modeling of the liver in the virtual surgical simulation.
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Hashemzadeh, Farzad, Iraj Hassanzadeh, Mahdi Tavakoli, and Ghasem Alizadeh. "A New Method for Bilateral Teleoperation Passivity under Varying Time Delays." Mathematical Problems in Engineering 2012 (2012): 1–19. http://dx.doi.org/10.1155/2012/792057.
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A new framework is proposed to mitigate the adverse effect of time-varying time delays on the passivity of a teleoperation system. To this end, the communication channel with time-varying delays is modeled as a constant-delay channel along with additive output disturbances. Then, disturbance estimator blocks are added in each of the feedforward and feedback paths to estimate these disturbances and to compensate for them. In the disturbance estimator block, there is a need for a virtual time-varying delay block such that the overall communication channel can be seen as one with a constant delay. We also propose a method for determining this virtual delay. Two PHANToM haptic devices connected through a communication channel with time-varying delays are considered for a case study. Simulation and experimental results confirm the efficiency of the proposed method in terms of passivating the teleoperation system in the presence of time-varying delays.
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Arcarisi, Lucia, Licia Di Pietro, Nicola Carbonaro, Alessandro Tognetti, Arti Ahluwalia, and Carmelo De Maria. "Palpreast—A New Wearable Device for Breast Self-Examination." Applied Sciences 9, no. 3 (January 22, 2019): 381. http://dx.doi.org/10.3390/app9030381.
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Breast cancer is the most commonly diagnosed cancer in women worldwide. Although targeted screening programs using mammography have facilitated earlier detection and improved treatment has resulted in a significant reduction in mortality, some negative aspects related to cost, the availability of trained staff, the duration of the procedure, and its non-generalizability to all women must be taken into consideration. Breast palpation is a simple non-invasive procedure that can be performed by lay individuals for detecting possible malignant nodules in the breast. It is a simple test, based on the haptic perception of different stiffness between healthy and abnormal tissues. According to a survey we carried out, despite being safe and simple, breast self-examination is not carried by women because they are not confident of their ability to detect a lump. In this study, a non-invasive wearable device designed to mimic the process of breast self-examination using pressure sensing textiles and thus increase the confidence and self-awareness of women is proposed. Combined with other screening methods, the device can increase the odds of early detection for better prognosis. Here, we present the physical implementation of the device and a finite element analysis of the mechanics underlying its working principle. Characterization of the device using models of large and medium breast phantoms with rigid inclusions demonstrates that it can detect nodules in much the same way as does the human hand during breast self-examination.
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O’Malley, Marcia K., Kevin S. Sevcik, and Emilie Kopp. "Improved Haptic Fidelity Via Reduced Sampling Period With an FPGA-Based Real-Time Hardware Platform." Journal of Computing and Information Science in Engineering 9, no. 1 (February 9, 2009). http://dx.doi.org/10.1115/1.3072904.
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A haptic virtual environment is considered to be high-fidelity when the environment is perceived by the user to be realistic. For environments featuring rigid objects, perception of a high degree of realism often occurs when the free space of the simulated environment feels free and when surfaces intended to be rigid are perceived as such. Because virtual surfaces (often called virtual walls) are typically modeled as simple unilateral springs, the rigidity of the virtual surface depends on the stiffness of the spring model. For impedance-based haptic interfaces, the stiffness of the virtual surface is limited by the damping and friction inherent in the device, the sampling rate of the control loop, and the quantization of sensor data. If stiffnesses greater than the limit for a particular device are exceeded, the interaction between the human user and the virtual surface via the haptic device becomes nonpassive. We propose a computational platform that increases the sampling rate of the system, thereby increasing the maximum achievable virtual surface stiffness, and subsequently the fidelity of the rendered virtual surfaces. We describe the modification of a PHANToM Premium 1.0 commercial haptic interface to enable computation by a real-time operating system (RTOS) that utilizes a field programmable gate array (FPGA) for data acquisition between the haptic interface hardware and computer. Furthermore, we explore the performance of the FPGA serving as a standalone system for communication and computation. The RTOS system enables a sampling rate for the PHANToM that is 20 times greater than that achieved using the “out of the box” commercial hardware system, increasing the maximum achievable surface stiffness twofold. The FPGA platform enables sampling rates of up to 400 times greater, and stiffnesses over 6 times greater than those achieved with the commercial system. The proposed computational platforms will enable faster sampling rates for any haptic device, thereby improving the fidelity of virtual environments.
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Ji, Jingjing, Kok-Meng Lee, and Shuyou Zhang. "Cantilever Snap-Fit Performance Analysis for Haptic Evaluation." Journal of Mechanical Design 133, no. 12 (December 1, 2011). http://dx.doi.org/10.1115/1.4005085.
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This paper investigates the parametric effects, which include material properties, hook shape, and shear deformation, on the force/deflection relationship governing the assembly/disassembly processes of a snap-fit for developing embedded algebraic solutions to achieve realistic force feedback through a haptic device. For this purpose, an algebraic model, which isolates individual parametric factors that contribute to the cantilever hook deflection, has been derived for examining assumptions commonly made to simplify models for design optimization and real-time control. The algebraic model has been verified by comparing computed results against those simulated using ANSYS FEA workbench and published approximate solutions. Additionally, the model has been validated by comparing the friction coefficients of three different snap-fit designs (with same materials), which closely agree within 5% of their root-mean-square value. Implemented on a commercial PHANTOM haptic device, we demonstrate the effectiveness of the model as embedded algebraic solutions for haptic rendering in design. Nine individuals participated in evaluating a set of design options with different parameter settings; 78% of whom chose the optimal theoretical solution by feeling the feedback force. These findings demonstrate that the design confidence of assembly robustness can be enhanced through a relatively accurate virtual force feedback.
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Deniz, Meryem, Alper Bayrak, Enver Tatlicioglu, and Erkan Zergeroglu. "A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems." Journal of Dynamic Systems, Measurement, and Control 140, no. 5 (December 19, 2017). http://dx.doi.org/10.1115/1.4038373.
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In this study, the design of a smooth robust velocity observer for a class of uncertain nonlinear mechatronic systems is presented. The proposed velocity observer does not require a priori knowledge of the upper bounds of the uncertain system dynamics and introduces time-varying observer gains for uncertainty compensation. Practical stability of the velocity observation error is ensured via Lyapunov-type stability analysis. Experimental results obtained from Phantom Omni haptic device are presented to illustrate the performance of the proposed velocity observer.
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Bhargav, Santosh D. B., Shanthanu Chakravarthy, and G. K. Ananthasuresh. "A Compliant End-Effector to Passively Limit the Force in Tele-Operated Tissue-Cutting." Journal of Medical Devices 6, no. 4 (October 11, 2012). http://dx.doi.org/10.1115/1.4007638.
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This paper presents a compliant end-effector that cuts soft tissues and senses the cutting forces. The end-effector is designed to have an upper threshold on cutting forces to facilitate safe handling of tissue during automated cutting. This is demonstrated with nonlinear finite element analysis and experimental results obtained by cutting inhomogeneous phantom tissue. The cutting forces are estimated using a vision-based technique that uses amplified elastic deformation of the compliant end-effector. We also demonstrate an immersive tele-operated tissue-cutting system together with a haptic device that gives real-time force feedback to the user.
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Seth, Abhishek, Hai-Jun Su, and Judy M. Vance. "Development of a Dual-Handed Haptic Assembly System: SHARP." Journal of Computing and Information Science in Engineering 8, no. 4 (November 7, 2008). http://dx.doi.org/10.1115/1.3006306.
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Virtual reality (VR) technology holds promise as a virtual prototyping (VP) tool for mechanical assembly; however, several developmental challenges still need to be addressed before VP applications can successfully be integrated into the product realization process. This paper describes the development of System for Haptic Assembly and Realistic Prototyping (SHARP), a portable virtual assembly system. SHARP uses physics-based modeling for simulating realistic part-to-part and hand-to-part interactions in virtual environments. A dual-handed haptic interface for a realistic part interaction using the PHANToM® haptic devices is presented. The capability of creating subassemblies enhances the application’s ability to handle a wide variety of assembly scenarios at the part level as well as at the subassembly level. Swept volumes are implemented for addressing maintainability issues, and a network module is added for communicating with different VR systems at dispersed geographic locations. Support for various types of VR systems allows an easy integration of SHARP into the product realization process, resulting in faster product development, faster identification of assembly and design issues, and a more efficient and less costly product design process.
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Coles-Black, Jasamine, Damien Bolton, and Jason Chuen. "Accessing 3D Printed Vascular Phantoms for Procedural Simulation." Frontiers in Surgery 7 (January 27, 2021). http://dx.doi.org/10.3389/fsurg.2020.626212.
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Introduction: 3D printed patient-specific vascular phantoms provide superior anatomical insights for simulating complex endovascular procedures. Currently, lack of exposure to the technology poses a barrier for adoption. We offer an accessible, low-cost guide to producing vascular anatomical models using routine CT angiography, open source software packages and a variety of 3D printing technologies.Methods: Although applicable to all vascular territories, we illustrate our methodology using Abdominal Aortic Aneurysms (AAAs) due to the strong interest in this area. CT aortograms acquired as part of routine care were converted to representative patient-specific 3D models, and then printed using a variety of 3D printing technologies to assess their material suitability as aortic phantoms. Depending on the technology, phantoms cost $20–$1,000 and were produced in 12–48 h. This technique was used to generate hollow 3D printed thoracoabdominal aortas visible under fluoroscopy.Results: 3D printed AAA phantoms were a valuable addition to standard CT angiogram reconstructions in the simulation of complex cases, such as short or very angulated necks, or for positioning fenestrations in juxtarenal aneurysms. Hollow flexible models were particularly useful for device selection and in planning of fenestrated EVAR. In addition, these models have demonstrated utility other settings, such as patient education and engagement, and trainee and anatomical education. Further study is required to establish a material with optimal cost, haptic and fluoroscopic fidelity.Conclusion: We share our experiences and methodology for developing inexpensive 3D printed vascular phantoms which despite material limitations, successfully mimic the procedural challenges encountered during live endovascular surgery. As the technology continues to improve, 3D printed vascular phantoms have the potential to disrupt how endovascular procedures are planned and taught.