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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>
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    <author>W. Khaled</author>
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      <value>Minimal Invasive Surgery</value>
    </subject>
    <subject>
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      <value>Manual Palpation</value>
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      <value>Tactile Display</value>
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      <value>Virtual Reality Application</value>
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    <subject>
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      <type>uncontrolled</type>
      <value>Ultrasound ELASTOGRAPHY</value>
    </subject>
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    <title language="eng">A haptic sensor-actuator-system based on ultrasound elastography and electrorheological fluids for virtual reality applications in medicine</title>
    <abstract language="eng">Mechanical properties of biological tissue represent important diagnostic information and are of histological relevance (hard lesions, "nodes" in organs: tumors; calcifications in vessels: arteriosclerosis). The problem is, that such information is usually obtained by digital palpation only, which is limited with respect to sensitivity. It requires intuitive assessment and does not allow quantitative documentation. A suitable sensor is required for quantitative detection of mechanical tissue properties. On the other hand, there is also some need for a realistic mechanical display of those tissue properties. Suitable actuator arrays with high spatial resolution and real-time capabilities are required operating in a haptic sensor actuator system with different applications. The sensor system uses real time ultrasonic elastography whereas the tactile actuator is based on electrorheological fluids. Due to their small size the actuator array elements have to be manufactured by micro-mechanical production methods. In order to supply the actuator elements with individual high voltages a sophisticated switching and control concept have been designed. This haptic system has the potential of inducing real time substantial forces, using a compact lightweight mechanism which can be applied to numerous areas including intraoperative navigation, telemedicine, teaching, space and telecommunication.</abstract>
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    <title language="deu">Haptic sensor-actuator-system based on ultrasound elastography and electrorheological fluids for virtual reality applications in medicine</title>
    <abstract language="eng">Mechanical properties of biological tissue represent important diagnostic information and are of histological relevance (hard lesions, "nodes" in organs: tumors; calcifications in vessels: arteriosclerosis). The problem is, that such information is usually obtained by digital palpation only, which is limited with respect to sensitivity. It requires intuitive assessment and does not allow quantitative documentation. A suitable sensor is required for quantitative detection of mechanical tissue properties. On the other hand, there is also some need for a realistic mechanical display of those tissue properties. Suitable actuator arrays with high spatial resolution and real-time capabilities are required operating in a haptic sensor actuator system with different applications. The sensor system uses real time ultrasonic elastography whereas the tactile actuator is based on electrorheological fluids. Due to their small size the actuator array elements have to be manufactured by micro-mechanical production methods. In order to supply the actuator elements with individual high voltages a sophisticated switching and control concept have been designed. This haptic system has the potential of inducing real time substantial forces, using a compact lightweight mechanism which can be applied to numerous areas including intraoperative navigation, telemedicine, teaching, space and telecommunication.</abstract>
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    <title language="eng">Palpation imaging using a haptic system for virtual reality applications in medicine</title>
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    <title language="eng">Palpation Imaging using a Haptic System for Virtual Reality Applications in Medicine</title>
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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>
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    <title language="eng">Palpation imaging using a haptic sensor actuator system for medical applications</title>
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    <title language="eng">Computer based platform for tactile actuator analysis</title>
    <parentTitle language="eng">Actuator 2006 : 10th International Conference on New Actuators and 4th International Exhibition on Smart Actuators and Drive Systems, Bremen, Germany, 14 - 16 June 2006</parentTitle>
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    <author>T. Heckner</author>
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    <title language="eng">Electrorheological Tactile Elements</title>
    <abstract language="eng">The use of ultrasound systems for medical examination and diagnosis is nothing new. The extension of ultrasound techniques for real time elastographic analysis purposes represents a more recent development. Nevertheless, as they stand all such techniques rely on the interpretation of two-dimensional visual data displayed on a video screen. In reality however, a medical doctor will make as much use of exploratory touch as he or she does vision, making the simultaneous portrayal of both video and tactile information most desirable [Böse H, Monkman GJ, Freimuth H, Ermert H. Haptisches Sensor-Aktor-System uaf der grundlage der Echtzeitelastographie sowie von elktro- und magnetorheologischen Materialien “HASASEM” [3]. BMBF Antrag 01 IR A14D, Oktober 2000].&#13;
&#13;
This paper discusses the preliminary tests and basic design parameters for single tactels using electrorheological fluids. The final aim is to produce a prototype three-dimensional tactile display comprising electrically switchable micro-machined cells whose mechanical moduli are governed by phase changes experienced by electrorheological fluids. This will be integrated with the latest elastographic ultrasonic sensor systems in order to present the human fingers with controllable surfaces capable of emulating biological tissue, muscle and bone.</abstract>
    <parentTitle language="eng">Mechatronics</parentTitle>
    <identifier type="doi">10.1016/j.mechatronics.2004.05.007</identifier>
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    <licence>Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG</licence>
    <author>Dagmar Klein</author>
    <author>Herbert Freimuth</author>
    <author>Gareth J. Monkman</author>
    <author>Stefan Egersdörfer</author>
    <author>Alexander Meier</author>
    <author>Holger Böse</author>
    <author>Michael Baumann</author>
    <author>Helmut Ermert</author>
    <author>Otto T. Bruhns</author>
    <collection role="institutes" number="FakEI">Fakultät Elektro- und Informationstechnik</collection>
    <collection role="othforschungsschwerpunkt" number="16316">Produktion und Systeme</collection>
    <collection role="institutes" number="">Mechatronics Research Unit (MRU)</collection>
  </doc>
</export-example>
