Publications by Hannes Bleuler

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This paper reports a new MRI (Magnetic Resonance Imaging) compatible actuator that can operate near an MRI without degrading its imaging quality. A high-power electrostatic motor is introduced and its MR-compatibility is examined, both experimentally and t ...

Characterization of gait is largely used for research on locomotion or for clinical improvement and follow up. There exists two main technologies for measurement of the kinematics of walking: IMU systems and optical tracking. Inertial measurement units are getting more and more popular because of their integrability, cost and lack of spatial limitations. Despite these advantages, optical motion tracking solutions offer a higher precision which is for various applications such as kinetics analysis. In that s

A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of: conventional laparoscopy (low cost,

The introduction of Minimally Invasive Surgery (MIS) has revolutionised surgical care, considerably improving the quality of many surgical procedures. Technological advances, particularly in robotic surgery systems, have reduced the complexity of such an a ...

Realistic body images (avatars) have been long utilized in virtual reality applications, and they are becoming increasingly used in Neuroscience and Neuroprosthetics fields. To elucidate monkeys' perception of avatars, we have measured reaction of two naive rhesus monkeys when confronted to realistic 3D monkey avatars with different facial expressions and different levels of realism. We have compared it with their reaction to images of real monkeys with similar facial expressions. Monkeys were initially ove

Open source software have evolved into powerful tools for real-time control of mechatronic systems. They are of interest for academic purposes, as they promise high flexibility at low cost. In this paper, we investigate the performance of an open source co ...

The main goal of virtual reality based surgery simulators with haptic feedback is to provide an alternative to traditional training methods on animals, cadavers or real patients. Haptic feedback is a key feature for every surgery simulator for the training ...

This paper describes the design and control of a water-based multimodal haptic display. The system is able to provide temperature and pressure (pulse) cues through a finger-sized display. Temperature feedback is obtained by mixing hot and cold water stored ...

This paper describes a two-degrees-of-freedom haptic interface to investigate the brain mechanisms of human motor control, which is capable of safely and gently interacting with human arm motion during functional magnetic resonance imaging (fMRI). A hydros ...

It is important to reliably characterize cracks in metallic mechanical parts in order to assess the serenity of damage due to fatigue. The most important parameter for this is the crack depth. This is notoriously difficult with standard Eddy current techni ...

Spark-assisted chemical engraving (SACE) is a promising micro-machining technology for the low-cost machining of holes and channels in non-conducting materials, such as glass and some ceramics. Despite the complexity of SACE due to the interdependency of t ...

Electrode effects are known for more than 150 years. These effects, with undesirable consequences in industrial aluminium electrolysis, can be used to micro-machine glass with Spark Assisted Chemical Engraving (SACE). In this paper, a novel approach for theoretical analysis of the phenomenon is proposed by considering the bubble growth and bubble departure from electrodes as a stochastic process. The critical conditions (critical voltage and current density) are predicted in function of electrode geometry a

The population ageing implies an increasing need for support especially in terms of mobility. Actuated orthoses offer new possibilities to assist walking by compensating the diminished muscular force which occurs with age. In order to assist efficiently the user, the orthotic device needs to provide torque without constraining the voluntary movements. Transparency is therefore a critical characteristic. A first implementation of such a device using a conventional actuation is presented and its limitations a

The spark assisted chem. engraving (SACE) of glass has been investigated using current/voltage measurements combined with photographs of the tool electrode under different regimes. Depending on the applied potential, different domains have been identified. At low potentials (25 V), there are strong current fluctuations mainly due to bubble coalescence. The authors speculate that in this r

During traditional open procedures, surgeons directly palpate tissues before dissecting them. In this way, they can avoid the accidental damage of hidden arteries that can lead to fatal hemorrhage. New Minimally Invasive Surgical (MIS) techniques progressi ...

Minimally Invasive Surgery (MIS) methods have revolutionized surgical care, considerably improving the results of many surgical procedures. Technological advances, in particular in robotic surgical systems, have reduced the complexity of this surgical method enhancing a surgeon's dexterity, precision and visualization. Despite all these advantages, the progress in this field is constrained by an unsolved issue: the introduction of MIS has eliminated the possibility of direct organ manipulation and palpation

Recent developments in virtual reality and robotic technologies have allowed investigating the behavioural and brain mechanisms that grounds self-consciousness in the multisensory (e.g. vision and touch) and sensorimotor processing of bodily signals. Yet, ...

The present paper describes LIGRA, an innovative technological solution developed in the context of the SAFROS co-funded EU project. Its general goal is to improve patient safety during minimal invasive robotic surgery. Focusing on the risks introduced in ...

Surgeons require significant training to acquire sufficient dexterity and hand-eye coordination to manipulate objects skilfully under the microscope. This paper presents a computer-based real-time simulation of microsurgery as well as the hardware setup. I ...

Interventional radiologists manipulate guidewires and catheters and steer stents through the patient’s vascular system under X-ray imaging for treatment of vascular diseases. The complexity of these procedures makes trainingmandatory in order to master han ...

Hannes Bleuler

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Evaluation of MR-Compatibility of Electrostatic Linear Motor

A robotic platform for lower limb optical motion tracking in open space

Mechanical manipulator for surgical instruments

Influence of force and torque feedback on operator performance in a VR-based suturing task

Social interaction probed by reaching to face images: Rhesus monkeys consider a textured monkey avatar as a conspecific.

Control of a Haptic Interface and a Micromachining Setup with an Open Source Real-Time System

Experimental Evaluation of a Haptic Interface for Endoscopic Simulation

Design and Control of a novel Thermo-tactile Multimodal Display

A 2-DOF fMRI compatible haptic interface to investigate the neural control of arm movements

Characterization of Surface Cracks Through The Local Magnetic Field Induced by Eddy Currents

The current signal in Spark Assisted Chemical Engraving (SACE), what does it tell us ?

A model for electrode effects using percolation theory

A Double-differential Actuation for an Assistive Hip Orthosis

Investigations of the spark-assisted chemical engraving

Design and Psychophysical Evaluation of a Tactile Pulse Display for Teleoperated Artery Palpation

ARAKNES haptic interface: user-centered design approach

Torso-mounted Vibrotactile Interface to Experimentally Induce Illusory Own-body Perceptions

New horizons for patient safety: LIGRA (LIfe Guard for Robotic surgery Assistance) An interactive platform centralizing information and control in robotic surgery Operating Rooms

Development of a Microsurgery Training System

A Real-Time Simulator for Interventional Radiology