TY - CHAP A1 - Kahled, W. A1 - Reichling, S. A1 - Bruhns, Otto T. A1 - Böse, Holger A1 - Baumann, Michael A1 - Egersdörfer, Stefan A1 - Klein, Dagmar A1 - Tunayer, A. A1 - Freimuth, Herbert A1 - Lorenz, A. A1 - Pessavento, A. A1 - Ermert, Helmut ED - Westwood, James D. ED - Haluck, Randy S. T1 - Palpation Imaging using a Haptic System for Virtual Reality applications in Medicine T2 - Medicine meets virtual reality 12 Y1 - 2004 SP - 147 EP - 153 PB - IOS Press 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 - 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 JF - Acoustical Imaging Y1 - 2004 U6 - https://doi.org/10.1007/978-1-4020-2402-3_85 IS - 27 SP - 667 EP - 675 PB - Kluver Academic CY - Dordrecht & New York 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 -