0
Research Papers

Optimization of Manipulability in the Design of a Surgery Trainer Based on Virtual Reality

[+] Author and Article Information
Jose San Martin

GMRV-Modeling and Virtual Reality Group,
Department of Computers Architecture,
University Rey Juan Carlos,
Mostoles, Madrid 28933 Spain
e-mail: jose.sanmartin@urjc.es

Gracian Trivino

European Centre for Soft Computing,
Mieres, Asturias 33600 Spain
e-mail: gracian.trivino@softcomputing.es

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the Journal of Computing and Information Science in Engineering. Manuscript received April 11, 2011; final manuscript received August 2, 2012; published online September 18, 2012. Assoc. Editor: Kazuhiro Saitou.

J. Comput. Inf. Sci. Eng 12(4), 041001 (Sep 18, 2012) (10 pages) doi:10.1115/1.4007401 History: Received April 11, 2011; Revised August 02, 2012

In the field of minimally invasive surgery (MIS), trainers based on virtual reality provide a very useful, nondegradable, realistic training environment. The project of building this new type of trainers requires the development of new tools. In this paper, we describe a set of new measures that allow calculating the optimal position and orientation of haptic devices versus the virtual workspace of the application. We illustrate the use of these new tools applying them to a practical application.

FIGURES IN THIS ARTICLE
<>
Copyright © 2012 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

Components of OMNi device. Arms l1 = 129 mm and l2 = 133 mm.

Grahic Jump Location
Fig. 2

Main angles in the OMNi device

Grahic Jump Location
Fig. 3

Manipulability map in the plane YZ. The RW is remarked in thick trace. Axis in millimeters.

Grahic Jump Location
Fig. 4

3D volume of manipulability for the OMNi device

Grahic Jump Location
Fig. 5

Detail of positioning options of a VW inside the RW

Grahic Jump Location
Fig. 6

(a) Anatomical model of the shoulder. (b) Two views of VW including the differentiated parts VW-glenohumeral and VW-subacromial. (c) View of the shoulder plus the VW. The additional cylinders are the entry portals for the surgery.

Grahic Jump Location
Fig. 7

Initial relative position of both manipulators respect to the shoulder

Grahic Jump Location
Fig. 8

NFM is a 3D object in XYZ. This figure represents a portion for a given value of x. Level curves represent frequency values.

Grahic Jump Location
Fig. 9

Different orientations of the VW to study (0-45-90-135 grades) in each positioning

Grahic Jump Location
Fig. 10

A simple example of subdivision in voxels by octrees

Grahic Jump Location
Fig. 11

Frequency map corresponding with the Bankart lesion

Grahic Jump Location
Fig. 12

Frequency map corresponding with Bursectomy

Grahic Jump Location
Fig. 13

Views of a mechanical prototype used in the experimentation

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In