TY - CHAP A1 - Khaled, W. A1 - Reichling, S. A1 - Bruhns, Otto T. A1 - Ermert, Helmut A1 - Monkman, Gareth J. A1 - Egersdörfer, Stefan A1 - Baumann, Michael A1 - Böse, Holger A1 - Freimuth, Herbert A1 - Tunayar, A. T1 - Palpation imaging using a haptic sensor actuator system for medical applications T2 - Actuator 2004 : 9th International Conference on New Actuators & 3rd International Exhibition on Smart Actuators and Drive Systems, 14-16 June 2004, Bremen, Germany Y1 - 2004 SP - 379 EP - 382 PB - HVG Hanseatische Veranstaltungs-GmbH CY - Bremen ER - TY - CHAP A1 - Tunayar, A. A1 - Klein, Dagmar A1 - Freimuth, Herbert A1 - Böse, Holger A1 - Baumann, Michael A1 - Monkman, Gareth J. A1 - Egersdörfer, Stefan A1 - Ermert, Helmut A1 - Khaled, W. T1 - A tactile array based on electrorheological fluids T2 - Actuator 2004 : 9th International Conference on New Actuators & 3rd International Exhibition on Smart Actuators and Drive Systems, 14-16 June 2004, Bremen, Germany Y1 - 2004 SP - 601 EP - 604 PB - HVG Hanseatische Veranstaltungs-GmbH CY - Bremen ER - TY - CHAP A1 - Khaled, W. A1 - Bruhns, Otto T. A1 - Reichling, S. A1 - Böse, Holger A1 - Baumann, Michael A1 - Monkman, Gareth J. A1 - Egersdörfer, Stefan A1 - Meier, Alexander A1 - Klein, Dagmar A1 - Freimuth, Herbert A1 - Ermert, Helmut T1 - A haptic system for virtual reality applications based on ultrasound elastography and electrorheological fluids T2 - Acoustical Imaging (ACIM) N2 - 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. KW - Minimal Invasive Surgery KW - Manual Palpation KW - Tactile Display KW - Virtual Reality Application KW - Ultrasound ELASTOGRAPHY Y1 - 2004 SN - 978-90-481-6652-7 SN - 978-1-4020-2402-3 U6 - https://doi.org/10.1007/978-1-4020-2402-3_85 SN - 0270-5117 SN - 2215-1869 VL - 27 SP - 667 EP - 674 PB - Springer CY - Dordrecht ER - TY - CHAP A1 - Khaled, W. A1 - Reichling, S. A1 - Bruhns, Otto T. A1 - Monkman, Gareth J. A1 - Egersdörfer, Stefan A1 - Baumann, Michael A1 - Böse, Holger A1 - Klein, Dagmar A1 - Freimuth, Herbert A1 - Tunayar, A. A1 - Lorenz, A. A1 - Pessavento, A. A1 - Ermert, Helmut T1 - Palpation imaging using a haptic system for virtual reality applications in medicine T2 - Perspective in image-guided surgery : proceedings of the Scientific Workshop on Medical Robotics, Navigation, and Visualization : RheinAhrCampus Remagen, Germany, 11-12 March Y1 - 2004 SP - 407 EP - 414 PB - World Scientific Publ. CY - Singapore ER - TY - CHAP A1 - Khaled, W. A1 - Reichling, S. A1 - Bruhns, Otto T. A1 - Monkman, Gareth J. A1 - Egersdörfer, Stefan A1 - Baumann, Michael A1 - Böse, Holger A1 - Klein, Dagmar A1 - Freimuth, Herbert A1 - Tunayar, A. A1 - Lorenz, A. A1 - Pessavento, A. A1 - Ermert, Helmut T1 - Palpation Imaging using a Haptic System for Virtual Reality Applications in Medicine T2 - 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 Y1 - 2004 ER - TY - JOUR A1 - Böse, Holger A1 - Baumann, Michael A1 - Monkman, Gareth J. A1 - Egersdörfer, Stefan A1 - Tunayar, A. A1 - Freimuth, Herbert A1 - Ermert, Helmut A1 - Khaled, W. T1 - A new ER fluid based haptic actuator system for virtual reality JF - International journal of modern physics / B Condensed matter physics, statistical physics N2 - The concept and some steps in the development of a new actuator system which enables the haptic perception of mechanically inhomogeneous virtual objects are introduced. The system consists of a two-dimensional planar array of actuator elements containing an electrorheological (ER) fluid. When a user presses his fingers onto the surface of the actuator array, he perceives locally variable resistance forces generated by vertical pistons which slide in the ER fluid through the gaps between electrode pairs. The voltage in each actuator element can be individually controlled by a novel sophisticated switching technology based on optoelectric gallium arsenide elements. The haptic information which is represented at the actuator array can be transferred from a corresponding sensor system based on ultrasonic elastography. The combined sensor-actuator system may serve as a technology platform for various applications in virtual reality, like telemedicine where the information on the consistency of tissue of a real patient is detected by the sensor part and recorded by the actuator part at a remote location. Y1 - 2005 U6 - https://doi.org/10.1142/9789812702197_0129 [Titel anhand dieser DOI in Citavi-Projekt übernehmen] VL - 19 IS - 7-9 SP - 1628 EP - 1634 PB - World Scientific Publ. ER - TY - JOUR A1 - Monkman, Gareth J. A1 - Egersdörfer, Stefan A1 - Meier, Alexander A1 - Böse, Holger A1 - Baumann, Michael A1 - Ermert, Helmut A1 - Kahled, W. A1 - Freimuth, Herbert T1 - Technologies for Haptic Displays in Teleoperation JF - Industrial Robot N2 - Since the 1960s many alphanumeric to tactile data conversion methods have been investigated, mainly with the ultimate aim of assisting the blind. More recently, interest has been directed toward the display of pictures on haptically explorable surfaces – tactile imaging – for a range of medical, remote sensing and entertainment purposes. This paper examines the technologies which have been utilised for haptically explorable tactile displays over the past three decades, focussing on those which appear commercially viable in the immediate future. Y1 - 2003 U6 - https://doi.org/10.1108/01439910310506792 SN - 0143-991x VL - 30 IS - 6 SP - 525 EP - 530 PB - Emerald ER - TY - JOUR A1 - Klein, Dagmar A1 - Rensink, D. A1 - Freimuth, Herbert A1 - Monkman, Gareth J. A1 - Egersdörfer, Stefan A1 - Böse, Holger A1 - Baumann, Michael T1 - Modelling the Response of a Tactile Array using an Electrorheological Fluids JF - Journal of Physics D: Applied Physics N2 - 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. Y1 - 2004 U6 - https://doi.org/10.1088/0022-3727/37/5/023 SN - 1361-6463 SN - 0022-3727 VL - 37 IS - 5 SP - 794 EP - 803 PB - IOP Publ. CY - Bristol ER - TY - CHAP A1 - Böse, Holger A1 - Ermert, Helmut A1 - Tunayar, A. A1 - Monkman, Gareth J. A1 - Baumann, Michael A1 - Kahled, W. A1 - Reichling, S. A1 - Bruhns, Otto T. A1 - Freimuth, Herbert A1 - Egersdörfer, Stefan T1 - A Novel Haptic Sensor-Actuator System for Applications in Virtual Reality T2 - BMBF-Tagung, Leipzig 19.10 February 2004 Y1 - 2004 ER - TY - JOUR A1 - Klein, Dagmar A1 - Freimuth, Herbert A1 - Monkman, Gareth J. A1 - Egersdörfer, Stefan A1 - Meier, Alexander A1 - Böse, Holger A1 - Baumann, Michael A1 - Ermert, Helmut A1 - Bruhns, Otto T. T1 - Electrorheological Tactile Elements JF - Mechatronics N2 - 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]. 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. Y1 - 2005 U6 - https://doi.org/10.1016/j.mechatronics.2004.05.007 VL - 15 IS - 7 SP - 883 EP - 897 PB - Pergamon CY - Oxford ER -