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A haptic system for virtual reality applications based on ultrasound elastography and electrorheological fluids

  • 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.

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Metadaten
Author:W. Khaled, Otto T. Bruhns, S. Reichling, Holger Böse, Michael Baumann, Gareth J. MonkmanORCiDGND, Stefan Egersdörfer, Alexander Meier, Dagmar Klein, Herbert Freimuth, Helmut Ermert
DOI:https://doi.org/10.1007/978-1-4020-2402-3_85
ISBN:978-90-481-6652-7
ISBN:978-1-4020-2402-3
ISSN:0270-5117
ISSN:2215-1869
Parent Title (English):Acoustical Imaging (ACIM)
Publisher:Springer
Place of publication:Dordrecht
Document Type:conference proceeding (article)
Language:English
Year of first Publication:2004
Release Date:2022/12/10
Tag:Manual Palpation; Minimal Invasive Surgery; Tactile Display; Ultrasound ELASTOGRAPHY; Virtual Reality Application
Volume:27
First Page:667
Last Page:674
Konferenzangabe:27th International Symposium on Acoustical Imaging (AI27), Saarbrücken, Germany, March 24th to March 27th 2003
Institutes:Fakultät Elektro- und Informationstechnik
Fakultät Elektro- und Informationstechnik / Mechatronics Research Unit (MRU)
research focus:Produktion und Systeme
Licence (German):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG