Abstract
Abstract
Objective
To develop a collision engine (haptic force feedback simulator) compatible with a 5-degrees-of-freedom (DOF) haptic wand. This has broad applications such as telerobotic ultrasound systems. Integrating force feedback into systems is critical to optimize remote scanning. A collision engine compatible with a 5-DOF haptic wand was developed based on the Gilbert–Johnson–Keerthi algorithm. The collision engine calculated force during collision between the wand and a virtual object based on code developed using MATLAB. A proportional force was subsequently returned to a user via the haptic wand, thereby simulating the collision force for the user. Three experiments were conducted to assess the accuracy of the collision engine on curved and flat surfaces.
Results
The average errors in calculation of distances between the wand and virtual object were 2.1 cm, 3.4 cm, and 4.2 cm for the model of the human hand, cylinder, and cuboid, respectively. The collision engine accurately simulated forces on a flat surface, though was less accurate on curved surfaces. Future work will incorporate haptic force feedback into a telerobotic ultrasound system. The haptic force simulator presented here may also be used in the development of ultrasound simulators for training and education.
Funder
Natural Sciences and Engineering Research Council of Canada
Publisher
Springer Science and Business Media LLC
Subject
General Biochemistry, Genetics and Molecular Biology,General Medicine
Reference27 articles.
1. Fotouhi R, Oraji R, Mondragon C, Berryman B. Development of a remote ultrasound imaging system. In: ASME international design engineering technical conferences and computers and information in engineering conference; Boston, MA; 2015. V003T14A008.
2. Boman K, Olofsson M, Forsberg J, Boström S-A. Remote-controlled robotic arm for real-time echocardiography: the diagnostic future for patients in rural areas? Telemed J E Health. 2009;15(2):142–7. https://doi.org/10.1089/tmj.2008.0079.
3. Avgousti S, Christoforou EG, Panayides AS, et al. Medical telerobotic systems: current status and future trends. Biomed Eng Online. 2016;15(1):96. https://doi.org/10.1186/s12938-016-0217-7.
4. Salisbury K, Conti F, Barbagli F. Haptic rendering: introductory concepts. IEEE Comput Graphics Appl. 2004;24(2):24–32.
5. Blum T, Rieger A, Navab N, Friess H, Martignoni M. A review of computer-based simulators for ultrasound training. Simul Healthc. 2013;8(2):98–108.