Development of an Echography Simulator with Force Feedback

Jun 1, 2001 · 1 min read
Echography simulator with force feedback.
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Goals

While visiting the SHARP Group at the INRIA Rhone-Alpes Research Center in Grenoble, France, I worked on modeling the dynamics of human-thigh for development of an echography simulator with force feedback. We have developed a mass-spring model of the dynamics of a human thigh based on real data acquired. Using a force sensor mounted on a robot arm the deformation of the thigh with respect to an external force is measured. The stress-strain curves we obtained exhibit a strong non-linearity due to the incompressibility of the human tissue. Hence, we propose a two-layer model of the thigh using both linear and non-linear visco-elastic springs to simulate the observed behaviour. The parameters of the springs are estimated using a least-squares minimisation method.

For further information, please refer to my publications.

Surgical Simulation Haptics
M. Cenk Cavusoglu
Authors
M. Cenk Cavusoglu
Nord Professor of Engineering
M. Cenk Cavusoglu is the Nord Professor of Engineering in Electrical, Computer, and Systems Engineering at Case Western Reserve University. He is also the director of the Medical Robotics and Computer Integrated Surgery (MeRCIS) Laboratory. His research focuses on medical robotics, haptics, human–machine interfaces, and control, spanning control, mechanism, and system design to AI-assisted interventions. He is a Fellow of AIMBE. He has led 12 federally funded projects as principal investigator, with a total budget over $12.6M, and has served on editorial boards for leading robotics and mechatronics journals. His work advances safe, precise, and intelligent robotic systems for surgery and image-guided interventions.