바늘 중재시술 훈련 시뮬레이션을 위한 바늘 삽입 반력 모델

Abstract

Doctors depend considerably on the haptic sensation of hand gripping the inserted needle in the needle intervention,. Haptic interface of needle intervention training simulation enables doctors to feel the realistic haptic sensation, and it helps doctors to train the needle insertion procedure. This paper designs the reflective force model of the inserted needle to apply to haptic interface of needle intervention training simulation. The force models are designed based on viscoelastic and friction models. The ultimate objective of this paper is modeling the reflective forces that can imitate the reflective forces sensed by doctors at the real needle insertion procedure. Key Word : needle intervention,reflective force model,haptic,training simulation