Publication

Design of a haptic forceps for microsurgery training

Hannes Bleuler, Roger Gassert
2004
Conference Papers

Abstract

While feedback of the grasping force is necessary to manipulate objects skillfully, most Virtual Reality systems do not provide such feedback. Grasping an object is often reduced to pushing a button on the interface. This paper presents the design and realization of a haptic forceps for microsurgery training, and its integration on a haptic 6DOF DELTA device. Psychophysical experiments were first conducted to determine the critical factors for the design. The haptic forceps has similar dimensions as a microsurgery forceps and integrates two active degrees of freedom for rotation about its axis as well as opening and closing. The transformation of the force/torque from the forceps tip to the haptic device TCP, necessary to compute the desired force/torque at the forceps tip, was derived and implemented. Preliminary experiments emonstrate the potential of this haptic forceps in a VR microsurgery trainer.

Official source

https://infoscience.epfl.ch/entities/publication/7c1f5ac9-3de9-48ec-86c4-02587825137e

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Hannes Bleuler, Roger Gassert
2004
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/7c1f5ac9-3de9-48ec-86c4-02587825137e

About this result

Related concepts (25)

Forceps

Forceps (plural forceps or considered a plural noun without a singular, often a pair of forceps; the Latin plural forcipes is no longer recorded in most dictionaries) are a handheld, hinged instrument used for grasping and holding objects. Forceps are used when fingers are too large to grasp small objects or when many objects need to be held at one time while the hands are used to perform a task. The term "forceps" is used almost exclusively in the fields of biology and medicine.

Virtual reality

Virtual reality (VR) is a simulated experience that employs pose tracking and 3D near-eye displays to give the user an immersive feel of a virtual world. Applications of virtual reality include entertainment (particularly video games), education (such as medical or military training) and business (such as virtual meetings). Other distinct types of VR-style technology include augmented reality and mixed reality, sometimes referred to as extended reality or XR, although definitions are currently changing due to the nascence of the industry.

Torque

In physics and mechanics, torque is the rotational analogue of linear force. It is also referred to as the moment of force (also abbreviated to moment). It describes the rate of change of angular momentum that would be imparted to an isolated body. The concept originated with the studies by Archimedes of the usage of levers, which is reflected in his famous quote: "Give me a lever and a place to stand and I will move the Earth". Just as a linear force is a push or a pull applied to a body, a torque can be thought of as a twist applied to an object with respect to a chosen point.

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