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.

Copyright © 2012 by ASME
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Fig. 1

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

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Fig. 2

Main angles in the OMNi device

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Fig. 3

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

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Fig. 4

3D volume of manipulability for the OMNi device

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Fig. 5

Detail of positioning options of a VW inside the RW

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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.

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Fig. 7

Initial relative position of both manipulators respect to the shoulder

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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.

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Fig. 9

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

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Fig. 10

A simple example of subdivision in voxels by octrees

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Fig. 11

Frequency map corresponding with the Bankart lesion

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Fig. 12

Frequency map corresponding with Bursectomy

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Fig. 13

Views of a mechanical prototype used in the experimentation



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