3자유도 힘반향 장치를 이용한 침생검 햅틱 시뮬레이터3Dof Haptic Simulator for a Needle Biopsy

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This paper shows how to implement force reflection for a needle insertion problem. The target is a needle spine biopsy simulator for tumor inspection by needle insertion. Simulated force is calculated from the relationship of volume graphic data and the orientation and Position of the needle, and it is generated using PHANTOM™. To generate realistic force reflection, the directional force of the needle has been generated by tissue model. The other rotational force is generated using a pivot to keep the needle in the initial inserted direction after puncturing the skin. Since the used haptic device has limitation for generating high stiffness and large damping, scale downed model and digital filter are used to stabilize the system
Issue Date
2000-10
Language
KOR
Citation

제어로봇시스템학회 2000년도 제15차 한국자동제어학술회의 , pp.539 - 539

URI
http://hdl.handle.net/10203/137559
Appears in Collection
ME-Conference Papers(학술회의논문)
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