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AuthorHalabi O.
AuthorHalwani Y.
Available date2020-03-03T06:19:34Z
Publication Date2018
Publication NameDisplays
ResourceScopus
ISSN1419382
URIhttp://dx.doi.org/10.1016/j.displa.2018.07.004
URIhttp://hdl.handle.net/10576/13182
AbstractHaptic virtual fixtures (VFs) are force feedback mechanisms that enhance the human performance of tele-operative procedures where visual guidance suffers from many limitations. Many papers have explored the integration of VFs with tele-robotic procedures. However, only a few studies have included preoperative planning to their assembly. We created a novel VF design using procedures that require navigation along a path. Our design is based on the assembly of VF elements that fit along the path. To improve the design, we performed experiments to define the optimal properties in terms of highest accuracy and shortest task completion times for path-following procedures. The feasibility of the proposed method was tested on a preoperative simulated surgical planning task. Results demonstrate that the integration of the proposed VFs, which combine haptic force-field guidance and forbidden-region constraints with visual cues, increases accuracy and reduces the time taken to perform tasks.
SponsorThis research was made possible by the support of Internal Research Grant (QUUG-CENG-DCS-11/12-5), College of Engineering, Qatar University . The statements made herein are solely the responsibility of the author[s].
Languageen
PublisherElsevier B.V.
SubjectForbidden region
Haptic guidance
Surgical planning
Tele-robotic surgery
Virtual fixtures
TitleDesign and implementation of haptic virtual fixtures for preoperative surgical planning
TypeArticle
Pagination19-Sep
Volume Number54
dc.accessType Abstract Only


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