{"id":56,"date":"2016-02-10T18:05:26","date_gmt":"2016-02-11T02:05:26","guid":{"rendered":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/?page_id=56"},"modified":"2017-06-30T14:16:54","modified_gmt":"2017-06-30T21:16:54","slug":"haptic-needle-insertion","status":"publish","type":"page","link":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/haptic-needle-insertion\/","title":{"rendered":"Haptic needle insertion"},"content":{"rendered":"<br \/>\n<section id=\"builder-section-1459545515130\" class=\"row single gutter pad-top\">\n<div style=\"\" class=\"column one \">\n<p><img decoding=\"async\" loading=\"lazy\" class=\"size-full wp-image-217 alignleft\" src=\"https:\/\/wpcdn.web.wsu.edu\/wp-vancouverlabs\/uploads\/sites\/1185\/2016\/02\/NeedleInsertionParticleBrake.jpg\" alt=\"NeedleInsertionParticleBrake\" width=\"69\" height=\"154\" \/><\/p>\n<p>We developed a haptic needle insertion device with hybrid actuator. The actuation is done by combining a DC servomotor and a particle brake through a control scheme. In virtual reality simulations of insertion of a virtual needle into a multilayered tissue, the device was able to render abrupt changes and large forces as the needle passed through the layers of the tissue.<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"size-full wp-image-218 alignleft\" src=\"https:\/\/wpcdn.web.wsu.edu\/wp-vancouverlabs\/uploads\/sites\/1185\/2016\/02\/TissueLayers.jpg\" alt=\"TissueLayers\" width=\"109\" height=\"89\" \/><\/p>\n<p>Virtual multi-layered tissue with needle being inserted. The device can also create a realistic and highly rigid collision effect when the tip of the needle touches the bone (white layer at the bottom).<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p><em><strong>Publications<\/strong><\/em><\/p>\n<ul type=\"disc\">\n<li>\u201cBlending algorithm for position control with a hybrid actuator made of DC Servomotor and brake,\u201d<em>\u00a0<em>Industrial Robot<\/em>, vol. 38, issue 5,\u00a0<\/em>2011.<\/li>\n<li>&#8220;Force control with hybrid actuator for virtual needle insertion,&#8221;\u00a0<em>Proceedings of 2011 IEEE WorldHaptics Conference,\u00a0<\/em>Istanbul, Turkey, June 2011.<\/li>\n<\/ul><\/div>\n<\/section>\n","protected":false},"excerpt":{"rendered":"<p><img decoding=\"async\" loading=\"lazy\" class=\"size-full wp-image-217 alignleft\" src=\"https:\/\/wpcdn.web.wsu.edu\/wp-vancouverlabs\/uploads\/sites\/1185\/2016\/02\/NeedleInsertionParticleBrake.jpg\" alt=\"NeedleInsertionParticleBrake\" width=\"69\" height=\"154\" \/><\/p>\n<p>We developed a haptic needle insertion device with hybrid actuator. The actuation is done by combining a DC servomotor and a particle brake through a control scheme. In virtual reality simulations of insertion of a virtual needle into a multilayered tissue, the device was able to render abrupt changes and large forces as the needle passed through the layers of the tissue.<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"size-full wp-image-218 alignleft\" src=\"https:\/\/wpcdn.web.wsu.edu\/wp-vancouverlabs\/uploads\/sites\/1185\/2016\/02\/TissueLayers.jpg\" alt=\"TissueLayers\" width=\"109\" height=\"89\" \/><\/p>\n<p>Virtual multi-layered tissue with needle being inserted. The device can also create a realistic and highly rigid collision &#8230; <a href=\"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/haptic-needle-insertion\/\" class=\"more-link\"><span class=\"more-default\">&raquo; More &#8230;<\/span><\/a><\/p>\n","protected":false},"author":2136,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"template-builder.php","meta":{"_wsuwp_accessibility_report":[]},"wsuwp_university_location":[],"wsuwp_university_org":[],"_links":{"self":[{"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/pages\/56"}],"collection":[{"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/users\/2136"}],"replies":[{"embeddable":true,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/comments?post=56"}],"version-history":[{"count":7,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/pages\/56\/revisions"}],"predecessor-version":[{"id":393,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/pages\/56\/revisions\/393"}],"wp:attachment":[{"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/media?parent=56"}],"wp:term":[{"taxonomy":"wsuwp_university_location","embeddable":true,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/wsuwp_university_location?post=56"},{"taxonomy":"wsuwp_university_org","embeddable":true,"href":"https:\/\/vancouver.labs.wsu.edu\/robotics-and-automation\/wp-json\/wp\/v2\/wsuwp_university_org?post=56"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}