Haptic

Technology

HAPTIC TECHNOLOGY

Haptic

Technology

APPLICATION INVASIVE SURGERY INTRODUCTION

IN

MINIMALLY

With the technology advances in the past few years, computer technology is making its way to the general public at an affordable price.Such as a faster CPU, a larger hard drive, better graphic card, better multimedia system, and better computer tools.One of these computer technologies that are finding its way to the home and business PC market is the haptic technology.Haptics is "one of the growing areas in human computer interaction or new types of sensory interaction with computers besides keyboards and mice. The basic idea of haptic devices is to provide users with a force feedback information on the motion and/or force that they generate. Haptic devices are useful for tasks where visual information is not sufficient and may induce unacceptable manipulation errors, for example surgery or teleoperation in radioactive/chemical environments. The aim of haptic devices is to provide the user with a feeling of the situation. In this paper we will try to review a particular type of haptic devices, namely those based on parallel mechanisms. A haptic technology is a force or tactile feedback technology, which allows a user to touch, feel, manipulate, create, and/or alter simulated three-dimensional objects in a virtual environment. Such an interface could be used to train the skills of people who are physically challenged and people such as those jobs requiring specialized hand-held tools, for instance, surgeons, astronauts, and mechanics.Or to enable modeling of three dimensional objects without a physical medium such as automobile body designers

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working with clay models, to mock-up developmental prototypes directly from CAD databases rather than in a machine shop using virtual reality modeling language in conjunction with haptic technology.In addition, haptic help doctors to locate any change in temperature, or tumor in certain part of body without physically being there. The term haptic is derived from the greek word haphe which means pertaining to touch. The scientific term "haptics" refers to sensing and manipulation through the sense of touch. Although the word haptics may be new to many users, chances are that they are already using haptic interfaces (for example, keyboard and mouse). Haptic Devices A haptic interface is a device which allows a user to interact with a computer by receiving tactile and kinesthetic feedback. All haptic interface devices share the unparalleled ability to provide for simultaneous information exchange between a user and a machine as depicted below:

These devices mainly consist of robotic manipulators that push back against a user with the forces that correspond to the environment that the virtual effector is in.Tactile feedback makes use of devices that interact with the nerve endings in the skin to indicate heat, pressure and texture. These devices typically have been used to indicate whether or not the user is in contact with a virtual object.

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Technology

APPLICATIONS OF HAPTIC TECHNOLOGY

Haptic technology finds wide range of applications as mentioned below: 1. 2. 3. 4. 5. 6. 7. 8. Surgical simulation and medical training. Physical rehabilitation. Training and education. Museum display. Painting, sculpting and CAD. Scientific visualization. Military application. Entertainment.

SURGICAL TRAINING

SIMULATION

AND

MEDICAL

Training is a fundamental element in any specialized work. This training is particularly critical in surgery since any mistake due to the surgeons inexperience can be fatal for patients. Until now, surgeons training is carried out on cadavers, phantoms, living animals, or in real surgical interventions under expert supervision. These training methods imply two problems, though: at first, the lack of realism when practicing on phantoms or cadavers, secondly, the impossibility of repeating an intervention as often as necessary until its correct learning. Current evolution of computer computation power and, more exactly, of computer graphics hardware and software permits to research and develop virtual environments for training.

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Technology

Minimally Invasive Surgery (MIS), often called "laparoscopic" or "endoscopic" surgery, is a technique of performing complex surgical procedures through small incisions. Laparoscopy permits an internal view of the body with a slender telescope about one-half inch in diameter and 18 inches long. The laparoscope is inserted through a small puncture, eliminating the need for a large abdominal incision. This allows surgery with less discomfort to the patient, less time spent in the hospital, a faster return to daily activities and decreased cost. To allow the surgeon or radiologist to feel the interaction with the patient anatomy, the computer has to do more than just track the surgeons instruments and model the shape changes and model modifications. It must also provide artificial forces to mimic the reaction of an organ when the instrument touches it. This kind of computer interface is called a haptic interface, which literally means an interface that gives the user a sense of touch. For the purpose of haptic rendering,weve conceptually divided minimally invasive surgical tools into two generic groups based on their functions (see Figure 2): - long, thin, straight probes for palpating or puncturing the tissue and for injection (puncture and injection needles and palpation probes, for example) articulated tools for pulling, clamping, gripping, and cutting soft tissues (such as

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Technology

biopsy and punch forceps, hook scissors)

Modeling haptic interactions between a probe and objects using this line-object collision detection and response has several advantages over existing pointbased techniques, in which only the tip point of a haptic device is considered for touch interactions. - Users feel torques if a proper haptic device is used. For example, the user can feel the coupling moments generated by the contact forces at the instrument tip and forces at the trocar pivot point. - Users can detect side collisions between the simulated tool and 3D models of organs. - Users can feel multiple layers of tissue if the ray representing the simulated surgical probe is virtually extended to detect collisions with an organs internal layers.

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Technology

Deformable objects One of the most important components of computer based surgical simulation and training systems is the development of realistic organ-force models. A good organ-force model must -reject stable forces to a user, - display smooth deformations, - handle various boundary conditions and constraints, and - show physics-based realistic behavior in real time. Developing real-time and realistic organ-force models is challenging because of viscoelasticity, anisotropy, nonlinearity, rate, and time dependence in material properties of organs.In addition,soft organ tissues are layered and nonhomogeneous.Tooltissue interactions generate dynamical effects and cause nonlinear contact interactions of one organ with the others, which are quite difficult to simulate in real time. Furthermore, simulating surgical operations such as cutting and coagulation requires frequently updating the organ geometric database and can cause force singularities in the physicsbased model at the boundaries. There are currently two main approaches for developing organ-force models: particle-based methods and finite-element methods (FEM). In particle-based models, an organs nodes are connected to each other with springs and dampers. Each node (or particle) is represented by its own position, velocity,and acceleration and moves under the influence of forces applied by the surgical instrument. In finite-element modeling, the geometric model of an organ is divided into surface or volumetric elements, properties of each element are formulated, and the elements are assembled together to

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compute the deformation states of the organ for the forces applied by the surgical instruments. However, the integration of realistic tissue properties into particle models isnt a trivial task. The construction of an optimal network of springs in 3D is a complicated process and particle systems can become oscillatory or even unstable under certain conditions. Haptic interface During the spring of 1993, MITs work on haptic has introduced a new haptic interface that came to be called PHANToM.This quickly commercialized due to strong interest from many colleagues and technically progressive corporations.Right now there are more than hundreds of PHANToM haptic interfaces worldwide, this could represent an emerging market for haptic interface device.The PHANToM interface is an electromechanical device small enough to sit on the surface of a desk and connects to a computers input/output port. The PHANToM is a computer peripheral most closely related to the mouse. Its function is to interact with objects in a three dimensional environment. It has a mechanical arm supporting a pen or thimble interface at its tip, through which it can exert forces on users while tracking their motions (see fig.).PHANTOM applies forces on users in ways that give them the illusion of touching something.It may be as simple as feeling a wall or as complex as simulating the physical sensation of a surgical procedure.The force to create such physical illusions requires three main components: a model of object geometry and material properties; a haptic interface that can track users motion and impose forces on them and a rendering algorithm that generates forces in response to user movement.

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Technology

Working The basic principle behind haptic rendering is simple: Every millisecond or so, the computer that controls the PHANToM reads the joint encoders to determine the precise position of the stylus. It then compares this position to those of the virtual objects the user is trying to touch. If the user is away from all the virtual objects, a zero voltage is sent to the motors and the user is free to move the stylus (as if exploring empty space). However, if the system detects a collision between the stylus and one of the virtual objects, it drives the motors so as to exert on the user's hand (through the stylus) a force along the exterior normal to the surface being penetrated. In practice, the user is prevented from penetrating the virtual object

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Technology

just as if the stylus collided with a real object that transmits a reaction to the user's hand. How it is done.. The skills-assessment capability is also based on a mathematical model. To quantify surgical activity, the researchers are creating a software implementation of the finite-state machine model. With this, a range of surgical states and transitions between states will be tracked. The states include idle, grasping, spreading, pushing, sweeping, and lateral retraction, as well as numerous combinations of these, such as grasping/pulling, pushing/sweeping/spreading, and so forth. In the virtual environment, these states will be tracked directly from the motions of the Phantom. In physical surgery, the surgeons` motion will be tracked by an electromagnetic position and orientation sensor system and the data will be input to the software for motion analysis. Potential Patient Benefits of Minimally Invasive Bypass Surgery Minimally invasive bypass surgery is believed to have the same beneficial results as conventional bypass surgery--restoring adequate blood flow and normal delivery of oxygen and nutrients to the heart. Minimally invasive bypass surgery, however, has additional advantages related to the ability of the surgeon to work on a beating heart or through smaller incisions. Shorter length of stay: Patients may experience less pain and may have a better ability to cough and breathe deeply after the operation so they are often discharged from the hospital in 2 to 3 days. Faster recovery: Avoidance of the heart-lung machine and the use of smaller incisions may reduce the risks of complications such as stroke and renal failure so that patients can return to their normal

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Technology

activities in 2 weeks rather than the typical 6 to 8 weeks with conventional surgery. Less bleeding and blood trauma: Any time blood is removed from the body and put into the heart-lung machine, the patient must be put on anticlotting medications or given "blood products". Artificial circuits such as the heart-lung machine can also damage blood cells. These factors may affect the blood's ability to clot after surgery. Avoiding the heart-lung machine can alleviate this blood trauma. Lower infection rate: A smaller incision means less exposure and handling of tissue, which may reduce the chances of infection. Available to more patients: Some patients are poor candidates for traditional bypass surgery because their illness is too widespread, their heart is too weak, or because they will not accept blood products. Some patients are able to receive this life-saving surgery through minimally invasive techniques. Less cost: The cost of minimally invasive cardiac surgery may be approximately 25% less than the cost of conventional surgery.

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Technology

ADVANTAGES TECHNOLOGY

AND

DISDAVNATGES

OF

HAPTIC

Even the best technology has its advantages and disadvantages sometimes. This is also true for haptic. The study of haptics holds a key to unlocking interface problems with the computer. Haptics enable a fairly intuitive way for the human user to get information into the computer, and for the computer to display information from a virtual world. Research in this area can help enable those who have been unable to use a computer to its fullest extent overcome a physical limitation, and it can enable users to explore objects and places that have been inaccessible under normal circumstances. Disadvatages Despite the progress made in the past two decades, haptic interfaces have not yet become commonplace.One main reason is the technological challenge associated with the design and production of interfaces that make physical contact with human users.Although there is hardware such as PHANTOM out in the commercial market, it is still very expensive for the home users or business users to purchase the PHANTOM device.At the same time the software compatibility is also another issue why haptic is still not very common yet.

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CONCLUSION With the increase of the computation power of office and home PC, one day, haptic mouse and interface device will be a common item in the house. The haptic development helps the sense impaired people to experience a new way of operating computers in a way they never do. From the examples mentioned in the commercial applications we can see that the use of haptic is actually infinite. Haptic could be used in medical, training, e-commerce, or even games. These are just some rough uses for haptic, the possibility is so much more and right now haptic is helping NASA to explore planets in the Solar system by controlling the robots. Haptic is the future for online computing and e-commerce. It will enhance the shopper experience and help online shopper to feel the merchandise without leaving their home.

REFERENCES

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J.K.Salisbury and A.M.Srinivasan,Projects in VR Phantom based haptic interaction with virtual objects, IEEE Computer graphics and applications. Vol.24, Issue (March 2004). 2. Sordid and K.S.Moore, The virtual surgeon, IEEE Spectrum, Vol.37. 3. G. Burdea, G. Patounakis, V. Popescu, and R. Weiss, Virtual reality based training for the diagnosis of prostate cancer, IEEE Trans. Biomed. Eng., vol. 46, pp. 12531260, Oct. 1999. 4. Guthart, Gary S., and Salisbury, J. K. (2000), The IntuitiveTM Telesurgery System: Overview and Application, IEEE International Conference on Robotics and Automation, San Francisco CA, USA. 5. www.google.com 6. http://haptic.mech.nwu.edu
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