A Hydraulic Haptic Actuator for Simulation of Cardiac Catheters

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS IEEE Transactions on Haptics Pub Date : 2024-02-12 DOI:10.1109/TOH.2024.3364689

Chengjie Li;Doo Yong Lee

{"title":"A Hydraulic Haptic Actuator for Simulation of Cardiac Catheters","authors":"Chengjie Li;Doo Yong Lee","doi":"10.1109/TOH.2024.3364689","DOIUrl":null,"url":null,"abstract":"This article presents a haptic actuator made of silicone rubber to provide both passive and active haptic forces for catheter simulations. The haptic actuator has a torus outer shape with an ellipse-shaped inside chamber which is actuated by hydraulic pressure. Expansion of the chamber by providing positive pressure can squeeze the inside passage to resist the catheter traveling through. Further expansion can hold and push back the catheter in the axial direction to render active haptic forces. The size of the catheter passage is increased by providing negative pressure to the chamber, allowing various diameters of the actual medical catheters to be used and exchanged during the simulation. The diameter of the catheter passage can be enlarged up to 1.6 times to allow 5 to 7 Fr (1 Fr = 1/3 mm) medical catheters to pass through. Experiment results show that the proposed haptic actuator can render 0 to 2.0 N passive feedback force, and a maximum of 2.0 N active feedback force, sufficient for the cardiac catheter simulation. The haptic actuator can render the commanded force profile with 0.10 N RMS (root-mean-squares) and 10.51% L2-norm relative errors.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"461-470"},"PeriodicalIF":2.4000,"publicationDate":"2024-02-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Haptics","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10432993/","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, CYBERNETICS","Score":null,"Total":0}

引用次数: 0

Abstract

This article presents a haptic actuator made of silicone rubber to provide both passive and active haptic forces for catheter simulations. The haptic actuator has a torus outer shape with an ellipse-shaped inside chamber which is actuated by hydraulic pressure. Expansion of the chamber by providing positive pressure can squeeze the inside passage to resist the catheter traveling through. Further expansion can hold and push back the catheter in the axial direction to render active haptic forces. The size of the catheter passage is increased by providing negative pressure to the chamber, allowing various diameters of the actual medical catheters to be used and exchanged during the simulation. The diameter of the catheter passage can be enlarged up to 1.6 times to allow 5 to 7 Fr (1 Fr = 1/3 mm) medical catheters to pass through. Experiment results show that the proposed haptic actuator can render 0 to 2.0 N passive feedback force, and a maximum of 2.0 N active feedback force, sufficient for the cardiac catheter simulation. The haptic actuator can render the commanded force profile with 0.10 N RMS (root-mean-squares) and 10.51% L2-norm relative errors.

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

用于模拟心脏导管的液压触觉执行器

本文介绍了一种由硅橡胶制成的触觉致动器，可为导管模拟提供被动和主动触觉力。触觉致动器的外部形状为环形，内腔为椭圆形，由液压驱动。通过提供正压使腔室膨胀，可以挤压内部通道，阻止导管通过。进一步的膨胀可在轴向保持和推回导管，从而产生积极的触觉力。通过向腔室提供负压，可以增大导管通道的尺寸，从而允许在模拟过程中使用和交换各种直径的实际医用导管。导管通道的直径最多可放大 1.6 倍，以允许 5 至 7 Fr（1 Fr = 1/3 毫米）的医用导管通过。实验结果表明，所提出的触觉致动器可提供 0 至 2.0 N 的被动反馈力和最大 2.0 N 的主动反馈力，足以进行心导管模拟。触觉致动器能以 0.10 N RMS（均方根）和 10.51% L2 规范相对误差呈现指令力曲线。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

IEEE Transactions on Haptics COMPUTER SCIENCE, CYBERNETICS-

CiteScore

5.90

自引率

13.80%

发文量

109

审稿时长

>12 weeks

期刊介绍： IEEE Transactions on Haptics (ToH) is a scholarly archival journal that addresses the science, technology, and applications associated with information acquisition and object manipulation through touch. Haptic interactions relevant to this journal include all aspects of manual exploration and manipulation of objects by humans, machines and interactions between the two, performed in real, virtual, teleoperated or networked environments. Research areas of relevance to this publication include, but are not limited to, the following topics: Human haptic and multi-sensory perception and action, Aspects of motor control that explicitly pertain to human haptics, Haptic interactions via passive or active tools and machines, Devices that sense, enable, or create haptic interactions locally or at a distance, Haptic rendering and its association with graphic and auditory rendering in virtual reality, Algorithms, controls, and dynamics of haptic devices, users, and interactions between the two, Human-machine performance and safety with haptic feedback, Haptics in the context of human-computer interactions, Systems and networks using haptic devices and interactions, including multi-modal feedback, Application of the above, for example in areas such as education, rehabilitation, medicine, computer-aided design, skills training, computer games, driver controls, simulation, and visualization.