Bimanual Interaction for Medical Virtual Environments: Palpation and Needle Intervention:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
München
Dr. Hut
2012
|
| Edition: | 1. Aufl. |
| Series: | Informatik
|
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | VII, 177 S. Ill., graph. Darst. 210 mm x 148 mm, 290 g |
| ISBN: | 9783843902908 3843902909 |
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Bimanual Interaction for Medical Virtual Environments:
Palpation and Needle Intervention
Von der Fakultät für Mathematik, Informatik und Naturwissenschaften
der RWTH Aachen University zur Erlangung des akademischen Grades
eines Doktors der Naturwissenschaften genehmigte Dissertation
vorgelegt von
Dipl -Inform Sebastian Ullrich
aus Würselen
Berichter: Prof Dr rer nat Torsten Kuhlen
Univ -Prof Dr med Rolf Rossaint
Univ -Prof Dr rer nat Uwe Naumann
Tag der mündlichen Prüfung: 22 Dezember 2011
Contents
1 Introduction 1
1 1 Motivation 1
1 2 Research Goals 2
1 3 Outline amp; Published Results 3
2 Medical Background 5
2 1 Palpation 5
2 2 Regional Anesthesia 8
221 Anatomy 8
222 Electric Nerve Stimulator 10
223 Stimulation Needles 10
224 Femoral Block 11
2 3 Chapter Conclusion 14
3 Simulation Background 15
3 1 Medical Simulation Taxonomy 15
3 2 Soft Tissue Deformation 18
3 3 Haptic Rendering 20
3 4 Palpation Simulation 22
3 5 Needle Insertion Simulation 24
3 6 Bimanual Interaction 27
3 7 Frameworks for Medical Simulation 29
3 8 Validation 30
3 9 Chapter Conclusion 31
RWTH
V
Contents
4 Bimanual Haptic Simulator System 33
4 1 System Architecture 33
411 Simulation 34
412 Visual Rendering 36
413 Collision Detection amp; Proximity Search 37
414 Interaction Loop 38
415 Force Algorithms amp; Interaction Device 38
4 2 Soft Tissue Simulation 40
421 Particle-based Approach 40
422 FEM-based Approaches in SOFA 40
423 Comparison of Partice-based and FEM Approaches 42
4 3 Palpation Interaction 44
431 Visual Coupling 44
432 Tissue Dragging 45
433 Multi-Object Force Algorithm 46
434 Force Interpolation and Smoothing 48
435 Pulse Force Algorithm 48
4 4 Needle Interaction 51
441 Visual Coupling 51
442 Tissue Dragging 52
443 Pre-rupture Force Algorithm 54
444 Needle Shaft Force Algorithm 54
4 5 Chapter Conclusion 57
5 Example Application RASim 59
5 1 Virtual Patient Architecture 59
511 Imaging 60
512 Data Preprocessing 61
513 3D Nerve Modeling 62
514 Selection amp;; 3D Nerve Instantiation 64
5 2 Electric Nerve Stimulation 65
521 Electric Impulse Transmission 65
522 Nerve Stimulation amp; Muscle Activation 67
5 3 Measuring Forces 68
5 4 Prototype with Nerve Stimulation 69
541 Features 69
542 Use Case 70
543 Hardware Platform 71
544 Simulation Datasets 72
5 5 Prototype with Bimanual Haptics 75
551 Features 75
552 Use Case 76
553 Hardware Platforms 77
554 Simulation Datasets 78
Ml
VI
Contents
5 6 Haptic Device Hardware Modifications 83
561 Palpation Pad 83
562 Needle Hub Grip 85
5 7 Chapter Conclusion 87
6 Simulator Evaluation 89
6 1 Performance Measurements and Force Analysis 89
611 Interaction Scenarios 90
612 Metrics 91
613 Results 92
614 Discussion 94
6 2 Pilot User Study with First Prototype 98
621 Experiment Design 98
622 Apparatus amp; Software 98
623 Measures, Error Metrics amp; Questionnaire 98
624 Participants 99
625 Results amp; Observations 99
626 Discussion 100
6 3 User Study with Bimanual Haptics Prototype 102
631 Experiment Design 102
632 Apparatus amp; Software 103
633 Measures, Error Metrics amp; Questionnaire 103
634 Participants 103
635 Results 104
636 Discussion 107
6 4 Bimanual Frame of Reference 114
641 Experiment Design amp; Hypotheses 115
642 Apparatus amp; Software 119
643 Measures, Error Metrics amp; Questionnaire 122
644 Participants 123
645 Results 123
646 Discussion 127
6 5 Chapter Conclusion 133
7 Conclusion amp; Future Work 135
7 1 Conclusion 135
7 2 Future Work 136
References 170
Curriculum Vitae 171
vii |
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| spelling | Ullrich, Sebastian 1979- Verfasser (DE-588)1019455667 aut Bimanual Interaction for Medical Virtual Environments: Palpation and Needle Intervention Sebastian Ullrich 1. Aufl. München Dr. Hut 2012 VII, 177 S. Ill., graph. Darst. 210 mm x 148 mm, 290 g txt rdacontent n rdamedia nc rdacarrier Informatik Zugl.: Aachen, Rheinisch-Westfälische Technische Hochschule, Diss., 2011 (DE-588)4113937-9 Hochschulschrift gnd-content X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=3972953&prov=M&dok_var=1&dok_ext=htm Inhaltstext HEBIS Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024733901&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
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| title | Bimanual Interaction for Medical Virtual Environments: Palpation and Needle Intervention |
| title_auth | Bimanual Interaction for Medical Virtual Environments: Palpation and Needle Intervention |
| title_exact_search | Bimanual Interaction for Medical Virtual Environments: Palpation and Needle Intervention |
| title_full | Bimanual Interaction for Medical Virtual Environments: Palpation and Needle Intervention Sebastian Ullrich |
| title_fullStr | Bimanual Interaction for Medical Virtual Environments: Palpation and Needle Intervention Sebastian Ullrich |
| title_full_unstemmed | Bimanual Interaction for Medical Virtual Environments: Palpation and Needle Intervention Sebastian Ullrich |
| title_short | Bimanual Interaction for Medical Virtual Environments: Palpation and Needle Intervention |
| title_sort | bimanual interaction for medical virtual environments palpation and needle intervention |
| topic_facet | Hochschulschrift |
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