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    <title language="eng">Palpation Imaging using a Haptic System for Virtual Reality applications in Medicine</title>
    <parentTitle language="eng">Medicine meets virtual reality 12</parentTitle>
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    <author>W. Kahled</author>
    <author>S. Reichling</author>
    <author>Otto T. Bruhns</author>
    <author>Holger Böse</author>
    <author>Michael Baumann</author>
    <author>Stefan Egersdörfer</author>
    <author>Dagmar Klein</author>
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    <title language="eng">A tactile array based on electrorheological fluids</title>
    <parentTitle language="eng">Actuator 2004 : 9th International Conference on New Actuators &amp; 3rd International Exhibition on Smart Actuators and Drive Systems, 14-16 June 2004, Bremen, Germany</parentTitle>
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    <author>A. Tunayar</author>
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    <author>Herbert Freimuth</author>
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    <author>Michael Baumann</author>
    <author>Gareth J. Monkman</author>
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  <doc>
    <id>5119</id>
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    <language>eng</language>
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    <edition/>
    <issue/>
    <volume>27</volume>
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    <title language="eng">A haptic system for virtual reality applications based on ultrasound elastography and electrorheological fluids</title>
    <abstract language="eng">Mechanical properties of biological tissue represent important diagnostic information and are of histological and pathological relevance. Malignant tumors are significantly stiffer and more immobile than surrounding healthy tissue. Hard calcifications in vessels occur due to arteriosclerosis. The problem is, that such information is usually not available or can only be obtained by manual palpation, which is subjective and limited in sensitivity. It requires intuitive assessment and does not allow quantitative documentation. Unfortunately, none of the established medical imaging equipment such as magnetic resonance imaging (MRI) or X-ray computed tomography (CT) can provide direct measure of tissue elasticity. On the one hand a suitable sensor is required for quantitative measurement of mechanical tissue properties. On the other hand there is also some need for a realistic haptic display of such tissue properties. Suitable actuator arrays with high spatial resolution acting in real time are required. A haptic sensor actuator system is presented in this paper including a sensitive sensor part and an actuator array for different applications. The mechanical consistency of an object is to be locally specified using a sensor system and represented perceptibly in a remote position on an actuator system for the user. The sensor system uses ultrasound (US) elastography, whereas the actuator array is based on electrorheological (ER) fluids.</abstract>
    <parentTitle language="eng">Acoustical Imaging (ACIM)</parentTitle>
    <identifier type="doi">10.1007/978-1-4020-2402-3_85</identifier>
    <identifier type="isbn">978-90-481-6652-7</identifier>
    <identifier type="isbn">978-1-4020-2402-3</identifier>
    <identifier type="issn">0270-5117</identifier>
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    <author>W. Khaled</author>
    <author>Otto T. Bruhns</author>
    <author>S. Reichling</author>
    <author>Holger Böse</author>
    <author>Michael Baumann</author>
    <author>Gareth J. Monkman</author>
    <author>Stefan Egersdörfer</author>
    <author>Alexander Meier</author>
    <author>Dagmar Klein</author>
    <author>Herbert Freimuth</author>
    <author>Helmut Ermert</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Minimal Invasive Surgery</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Manual Palpation</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Tactile Display</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Virtual Reality Application</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Ultrasound ELASTOGRAPHY</value>
    </subject>
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    <id>5124</id>
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    <publisherName>World Scientific Publ.</publisherName>
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    <title language="eng">Palpation imaging using a haptic system for virtual reality applications in medicine</title>
    <parentTitle language="eng">Perspective in image-guided surgery : proceedings of the Scientific Workshop on Medical Robotics, Navigation, and Visualization : RheinAhrCampus Remagen, Germany, 11-12 March</parentTitle>
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    <author>W. Khaled</author>
    <author>S. Reichling</author>
    <author>Otto T. Bruhns</author>
    <author>Gareth J. Monkman</author>
    <author>Stefan Egersdörfer</author>
    <author>Michael Baumann</author>
    <author>Holger Böse</author>
    <author>Dagmar Klein</author>
    <author>Herbert Freimuth</author>
    <author>A. Tunayar</author>
    <author>A. Lorenz</author>
    <author>A. Pessavento</author>
    <author>Helmut Ermert</author>
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    <title language="eng">Palpation Imaging using a Haptic System for Virtual Reality Applications in Medicine</title>
    <parentTitle language="eng">Proceedings of the 12th Annual Medicine Meets Virtual Reality Conference: - Building a Better You: The Next Tools for Medical Education, Diagnosis, and Care. - Medicine Meets Virtual Reality (MMVR) - Newport Beach (California, USA). 2004</parentTitle>
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    <issue>27</issue>
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    <title language="eng">A haptic system for virtual reality applications based on ultrasound elastography and electrorheological fluids</title>
    <parentTitle language="eng">Acoustical Imaging</parentTitle>
    <identifier type="doi">10.1007/978-1-4020-2402-3_85</identifier>
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    <author>W. Khaled</author>
    <author>Otto T. Bruhns</author>
    <author>S. Reichling</author>
    <author>Holger Böse</author>
    <author>Michael Baumann</author>
    <author>Gareth J. Monkman</author>
    <author>Stefan Egersdörfer</author>
    <author>Alexander Meier</author>
    <author>Dagmar Klein</author>
    <author>Herbert Freimuth</author>
    <author>Helmut Ermert</author>
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    <id>5125</id>
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    <language>eng</language>
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    <pageNumber/>
    <edition/>
    <issue>5</issue>
    <volume>37</volume>
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    <publisherPlace>Bristol</publisherPlace>
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    <title language="eng">Modelling the Response of a Tactile Array using an Electrorheological Fluids</title>
    <abstract language="eng">This paper reports the first step in the development of a tactile array suitable for the presentation of haptic information in virtual reality. The system is based on the electric field dependence of the viscosity of electrorheological fluids. The simulation, as well as the experimental realization of single tactels is described. The mathematical approach is based on the Eckart model (Eckart W 2000 Continuum Mech. Thermodyn. 12 341–62) and its validity is demonstrated by comparing the resulting yield stress with the experimental results from Wunderlich (2000 Dissertation Universität Erlangen-Nürnberg). Two different tactel designs are realized and the experimental results are compared with numerical simulation. The design of modification B is shown to be applicable for the realization of an actuator array with high spatial resolution.</abstract>
    <parentTitle language="eng">Journal of Physics D: Applied Physics</parentTitle>
    <identifier type="doi">10.1088/0022-3727/37/5/023</identifier>
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    <author>Dagmar Klein</author>
    <author>D. Rensink</author>
    <author>Herbert Freimuth</author>
    <author>Gareth J. Monkman</author>
    <author>Stefan Egersdörfer</author>
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