Simulating a Syringe Behaviour Using a Pneumatic Cylinder Haptic Interface

Thibault Senac 1 Arnaud Lelevé 1 Richard Moreau 1 Laurent Krähenbühl 1 Florent Sigwalt 2 Christian Bauer 2
1 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes
2 Hôpital de la Croix-Rousse [CHU - HCL]
Abstract : Mastering medical gestures, such as epidural needle insertion, requires much practice. Haptic interfaces can be efficient training solutions. Nevertheless, they must provide users with an accurate experience for an effective training. This article introduces a control framework that turns a pneumatic cylinder into a haptic interface able to simulate a syringe and more specifically the loss of resistance phenomenon encountered during an epidural needle insertion. To achieve this, the framework switches between two control laws (position and force tracking) according to the system state. Experiments involving two anesthetists confirm the practicality of this system for hands-on training or rehearsal purposes.
Keywords : Switched Systems Pneumatic Control Haptic Interface Epidural Anesthesia Backstepping Control
Document type :
Journal articles
Complete list of metadatas

Cited literature [21 references]  Display  Hide  Download
https://hal.archives-ouvertes.fr/hal-02176436
Contributor : Arnaud Leleve <>
Submitted on : Thursday, September 12, 2019 - 5:12:19 PM
Last modification on : Thursday, January 30, 2020 - 5:24:25 PM
Long-term archiving on: Saturday, February 8, 2020 - 3:27:35 AM

File

CEP2019_SENAC (1).pdf
Files produced by the author(s)

Identifiers

Collections

UNIV-LYON1 | INSA-LYON | AMPERE | EC-LYON | HCL | CNRS | INSA-GROUPE | UDL | TDS-MACS

Citation

Thibault Senac, Arnaud Lelevé, Richard Moreau, Laurent Krähenbühl, Florent Sigwalt, et al.. Simulating a Syringe Behaviour Using a Pneumatic Cylinder Haptic Interface. Control Engineering Practice, Elsevier, 2019, 90, pp.231-240. ⟨10.1016/j.conengprac.2019.07.005⟩. ⟨hal-02176436⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

104

Files downloads

128

Contact

Informations

CCSD