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 sensor-actuator-system based on ultrasound elastography and electrorheological fluids for virtual reality applications in medicine T2 - CARS 2003 : computer assisted radiology and surgery ; proceedings of the 17th International Congress and Exhibition London, June 25 - 28, 2003 N2 - 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. Y1 - 2003 SP - 1354 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Khaled, W. A1 - Ermert, Helmut 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 T1 - Haptic sensor-actuator-system based on ultrasound elastography and electrorheological fluids for virtual reality applications in medicine JF - Studies in health technology and informatics, Medicine Meets Virtual Reality (MMVR) N2 - 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. Y1 - 2003 VL - 11 IS - 94 SP - 144 EP - 150 PB - IOS Press 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 - 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 - Freimuth, Herbert A1 - Tunayar, A. A1 - Ermert, Helmut T1 - A New Haptic Sensor Actuator System for Virtual Reality Applications in Medicine T2 - Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003: 6th International Conference, Montréal, Canada, November 15-18, 2003, Proceedings Y1 - 2003 SN - 978-3540204626 SP - 132 EP - 140 PB - Springer 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 - 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 - 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 - 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 - Legrand, Virginie A1 - Böse, Holger A1 - Ermert, Helmut A1 - Freimuth, Herbert A1 - Baumann, Michael A1 - Egersdörfer, Stefan A1 - Meier, Alexander A1 - Dragoi, Daniel T1 - Technologien für haptische Systeme in der Informationsübertragung T2 - IAFW Tagung - Lengenfeld, Mai 2003 Y1 - 2003 ER -