CN108492657A - A kind of mixed reality simulation system for being trained before temporal bone surgery - Google Patents
A kind of mixed reality simulation system for being trained before temporal bone surgery Download PDFInfo
- Publication number
- CN108492657A CN108492657A CN201810242877.XA CN201810242877A CN108492657A CN 108492657 A CN108492657 A CN 108492657A CN 201810242877 A CN201810242877 A CN 201810242877A CN 108492657 A CN108492657 A CN 108492657A
- Authority
- CN
- China
- Prior art keywords
- real
- force
- touch device
- virtual
- temporal bone
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Theoretical Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Urology & Nephrology (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Surgery (AREA)
- Educational Administration (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Primary Health Care (AREA)
- Public Health (AREA)
- Processing Or Creating Images (AREA)
- Instructional Devices (AREA)
Abstract
A kind of mixed reality simulation system for being trained before temporal bone surgery is grouped as by real part, virtual part and systems control division；The reality part is made of allodynia device, real model bone structure layer, real part allodynia device is outputting and inputting for entire mixed reality simulation system, wherein operating lever is contacted with real model bone structure layer, and doctor is made to have indeed vibrations sense and operation telepresenc；The virtual part is mainly made of computer and display, for building virtual temporal bone model, and calculates soft tissue power everywhere and moment information；The systems control division point is mainly made of motor driver, Galil motion control cards and computer, detect position/appearance of allodynia device in actual environment, collision detection is carried out in conjunction with virtual part data, the power and torque for exporting soft tissue, along with allodynia device gravity, the power of Friction Compensation and torque are converted to expected force and torque output allodynia device by processing.
Description
Technical Field
The invention relates to a mixed reality simulation system for preoperative training of doctors, in particular to a mixed reality simulation system for preoperative training of temporal bones.
Background
The temporal bone is one of the most complex anatomical parts of the human body. It is in close proximity to the outer surface of the brain, protecting and surrounding several important soft tissues, such as arteries, veins and facial nerves. Surgical procedures are required on the temporal bone when removing tumors and cysts, repairing bone fractures, restoring hearing, correcting balance disorders, and preventing infection. Physicians need great training before entering the clinic, or there is a risk that permanent deformities, hearing loss and potential death may result.
The corpse is a main teaching tool for the traditional temporal bone surgery training. However, this approach is limited by the number of cadavers, cost and risk of disease transmission. The more novel teaching method is to use a simulator, and at present, a physical model, a virtual reality simulator and a virtual reality simulator with force feedback are mainly used for training the temporal bone surgery. (1) Physical model: such models approach cadaver conditions, primarily for practical training. These models are mainly rapid prototyping models and plastic models. Such as the "temporalis bone of petasites plastic", is widely considered as a substitute for cadaver training. However, one of the training problems is that the model cannot be reused, is used only once, is expensive and is not cost-effective. (2) Virtual reality simulator: such simulators are composed of a conventional human-computer interaction interface keyboard and mouse. They provide a graphical interpretation of simulated physical conditions, however the main problem with this type of simulator is the inability to provide true vibration and contact forces. (3) Virtual reality simulator with force feedback: this type of simulator has a virtual reality simulator with the capability of contact force feedback. When a intern carries out simulation operation through the virtual environment of the graphical interface, the function enables the intern to have contact force perception capability, but the intern cannot provide vibration sense in the drilling process, and the training effect is greatly reduced. Therefore, the vibration sense in the drilling process is obtained, and the real on-site clinical sense of a doctor has important significance for the effect of doctor training operation.
The invention provides a mixed reality simulation system for training before a temporal bone surgery, which comprises a real part, a virtual part and a system control part. The mixed reality simulation system can provide real vibration feeling and contact force perception, provides a teaching tool for the clinical training of interns, and has important theoretical significance and practical application value in research.
Disclosure of Invention
The invention aims to provide a mixed reality simulation system for preoperative training of temporal bone surgery, which has real vibration sense and contact force sensing capability, comprises a touch device which can provide 3 position degrees of freedom and 2 posture degrees of freedom and can compensate gravity of the touch device, and realizes the same surgery scene as a real surgery by combining soft tissue force feedback and an actual physical model in a virtual environment.
In order to achieve the functional purposes, the technical scheme adopted by the invention is as follows:
a mixed reality simulation system for preoperative training of temporal bone surgery, comprising: a real part, a virtual part and a system control part.
The real part includes a realistic model bone structure layer and a tactile device, and the tactile device includes a base, a parallel four-bar mechanism, a large arm mechanism, a forearm mechanism, a wrist mechanism and an operating lever. The bone structure layer part of the real model is a simple 3D printed physical model, which is equivalent to the temporal bone structure layer, and provides an operating object for the operating rod. The parallel four-bar mechanism is placed horizontally to ensure the balance of gravity. One end is connected to the base and one end is connected to the big arm mechanism. The gravity of the big arm mechanism, the forearm mechanism and the wrist mechanism will affect the force feeling of the human hand, so it needs Gravity compensation is carried out, but due to the light weight of the big arm mechanism, the forearm mechanism and the wrist mechanism itself, the drive motor is used to compensate for the gravity, thus realizing the complete gravity balance of the entire tactile device. The operating lever is held by the doctor Medical equipment, in which a surgical drill is installed, the operating rod is in contact with the bone structure layer of the real model, so that the doctor has a sense of real vibration and surgical presence.
The virtual part is used for constructing a virtual temporal bone model by scanning the temporal bone model and importing data of various tissues, muscles, cartilages and the like of the real temporal bone into Unity3D simulation software, and the virtual temporal bone model is displayed by a display, so that the operation presence is visually increased; by using(FCFor friction, K (x) is the sum of the coefficients of elasticityDamping and viscosity coefficients) to construct a soft tissue mechanics model, and calculating force and moment information of each part of the soft tissue through the soft tissue mechanics model.
The system control part comprises a Galil multi-axis motion control card, a driver and a computer. The Galil multi-axis motion control card controls the motor torque through a driver to generate force feedback, combines a real model part and a virtual part to realize the function of the whole mixed reality simulation system, performs forward and inverse kinematics calculation on the touch device by using a D-H method, establishes a Jacobian matrix of the touch device and provides position/posture data for the movement of the surgical drill in a virtual environment; establishing a touch device dynamic model considering friction force and gravity by applying a Lagrange equation, simplifying the dynamic model by combining with actual conditions, mainly analyzing a gravity item and a friction force item, and performing compensation control on the gravity and the friction force of the touch device; the proportion and the speed controller are adopted for motion control, and the contact force perception and the vibration sense in the operation process of the touch device part are realized by superposing the contact force of the virtual soft tissue and the actual vibration force, so that the purpose of ideal temporal bone operation training is achieved. The control system detects the position/posture of the touch device in the real environment, performs collision detection by combining virtual environment data, outputs the force and moment of soft tissue, and obtains expected force and moment by processing and converting the force and moment compensated by gravity and friction of the touch device and outputs the expected force and moment to the touch device.
The invention has the following advantages:
1. the real part touch device has five degrees of freedom, is combined with a real model bone structure layer, has real vibration sense and flexible movement, can better complete complex actions and generates more real operation presence sense.
2. According to the method, a lagrangian equation is used for establishing a touch device dynamic model considering friction and gravity, the gravity item and the friction force item of the touch device are mainly analyzed, and the gravity and the friction force compensation control of the touch device is realized by adopting motor control, so that the operating rod is basically not bound by other forces when being held, and the hand feeling is more real.
3. According to the invention, a virtual temporal bone model is constructed by adopting Unity3D simulation software, and is displayed by a display, real contact force perception and vibration perception are obtained by combining a soft tissue mechanics model and a real model bone structure layer, the same operation scene as a real operation is realized in vision and touch, and the preoperative training of a temporal bone operation of a doctor is better realized.
4. The invention adopts a closed-loop control strategy, efficiently realizes a control system of the mixed reality simulator, and has higher level in the aspects of real-time performance, high precision and the like of control.
5. The invention only needs to be arranged on a stable plane, is convenient to fix, has small occupied space of the body structure, and is easy to install and miniaturized.
6. The invention can provide real vibration feeling and contact force perception, provides a teaching tool for pre-operation training of interns, and reduces the training cost of interns.
Drawings
FIG. 1 is a mixed reality simulation system experiment platform of the present invention;
FIG. 2 is a block diagram of a real part of the mixed reality simulation system of the present invention;
FIG. 3 is a schematic diagram of the experimental control of the mixed reality simulation system of the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described with reference to the accompanying drawings.
The mixed reality simulation system experiment platform is shown in figure 1. The system mainly comprises a real part, a virtual part and a system control part. The reality part consists of a touch device and a real model bone structure layer. The joint freedom degree of the touch device mainly comprises a motor, an encoder and a potentiometer. The control system part mainly comprises a motor driver, a Galil multi-axis motion control card and a computer. The virtual part mainly comprises a computer and a display.
The structure diagram of the real part of the mixed reality simulation system of the invention is shown in figure 2. The touch device comprises a base, a parallel four-bar mechanism, a large arm mechanism, a small arm mechanism, a wrist mechanism and an operating rod. The parallel four-bar mechanism is horizontally placed, gravity balance is guaranteed by the parallel four-bar mechanism, one end of the parallel four-bar mechanism is connected with the base, the other end of the parallel four-bar mechanism is connected with the big arm mechanism, gravity of the big arm mechanism, the small arm mechanism and the wrist mechanism can influence the force feeling of hands, so that gravity compensation needs to be carried out on the big arm mechanism, the small arm mechanism and the wrist mechanism, the weight of the big arm mechanism, the weight of the small arm mechanism and the weight of the wrist mechanism are light, the gravity compensation is carried out on the big arm mechanism, the small arm mechanism and the wrist mechanism by adopting the driving motor, complete gravity.
The experimental control principle of the mixed reality simulation system is shown in fig. 3. The real part touch device is the input and output of the whole mixed reality simulation system, wherein the operating rod is in contact with the real model bone structural layer, so that a doctor has real vibration sense and operation on-site sense. Collecting the position/posture of a touch device, calculating the position/posture of an operation drill through the kinematics of the touch device, inputting the position/posture into a virtual environment, calculating soft tissue force and moment information of a contact position through an established soft tissue mechanical model in the virtual environment, obtaining output force and moment of each joint needing to simulate real soft tissue through conversion calculation, establishing the kinematics of the touch device by adopting a D-H method, establishing a temporal bone model in the virtual environment by adopting Unity3D simulation software, and adopting a soft tissue mechanical model by adopting Unity3D simulation software(FCFor friction, K (x) is the sum of the coefficients of elasticityDamping and viscosity coefficients); the method comprises the steps of collecting positions/postures of a sensing device and calculating surgical drilling positions/postures, calculating force and moment required by gravity and friction force compensation of the touch device by considering touch device dynamics of friction and gravity, wherein the touch device dynamics considering friction and gravity is established by adopting a Lagrange equation; calculating to obtain the output force and moment of each joint needing to simulate real soft tissue and the force and moment needed by the gravity and friction compensation of the touch device, processing and converting to obtain the expected force and moment of each joint and outputting the expected force and moment to a real environment, and further performing motion control by adopting a proportion and speed controller, so that the real perception of a doctor on the contact force of the virtual soft tissue is realized; the real vibration sense of the real model and the real perception of the contact force of the virtual soft tissue are combined to achieve the purpose of mixed reality, so that the real operation environment is simulated, and the preoperative training of the temporal bone operation of a doctor is realized.
Claims (4)
1. A mixed reality simulation system for preoperative training of temporal bone surgery, comprising: real part, virtual part and system control part, its characterized in that: the real part touch device is input and output of the whole mixed reality simulation system, wherein the operating rod is in contact with the real model bone structural layer, so that a doctor has real vibration sense and operation presence sense, the position/posture of the operation drill is calculated through the touch device kinematics, and the operation drill is input into a virtual environment; the virtual part calculates the force and moment information of the virtual soft tissue contact position through the established soft tissue mechanical modelObtaining output force and moment of each joint needing to simulate real soft tissue through conversion calculation, wherein a temporal bone model in the virtual environment is constructed by adopting Unity3D simulation software, and a soft tissue mechanics model is constructed by adopting Unity3D simulation software(FcFor friction, K (x) is the sum of the coefficients of elasticityDamping and viscosity coefficients); the system control part calculates the position/posture of the operating rod through the collected position/posture of the sensing device, calculates the force and moment required by the compensation of gravity and friction of the touch device through the dynamics of the touch device considering friction and gravity items, calculates the force and moment required by the compensation of the gravity and friction of the touch device through Lagrange's equation, calculates the force and moment required by the compensation of each joint output force and moment required by the simulation of real soft tissue combined with the gravity and friction of the touch device, outputs the expected force and moment of each joint to a real environment through conversion, and further performs motion control through a proportion and speed controller, thereby realizing the real perception of a doctor on the contact force of virtual soft tissue, combining the real vibration sense of a bone structure layer of a real model and the real perception on the contact force of the virtual soft tissue, and achieving the purpose of mixed reality, thereby simulating a real operation environment and realizing the preoperative training of the temporal bone operation of the doctor.
2. A mixed reality simulation system for preoperative training of the temporal bone surgery as set forth in claim 1 wherein: the touch device comprises a base, a parallel four-bar mechanism, a large arm mechanism, a small arm mechanism, a wrist mechanism and an operating rod, wherein the parallel four-bar mechanism is horizontally arranged, the weight balance is guaranteed, the weight of the large arm mechanism, the weight of the small arm mechanism and the weight of the wrist mechanism are lighter, the driving motor is adopted to perform gravity compensation on the large arm mechanism, the small arm mechanism and the wrist mechanism, the complete gravity balance of the whole touch device is realized, the operating rod is basically not bound by other forces when being held, and the hand feeling is more real.
3. A mixed reality simulation system for preoperative training of the temporal bone surgery as set forth in claim 1 wherein: the virtual part adopts Unity3D simulation software to construct a temporal bone model, the temporal bone model is displayed by a display, real contact force perception and vibration perception are obtained by combining a soft tissue mechanics model and a real model bone structure layer, the same operation scene as a real operation is realized in vision and touch, and the preoperative training of the temporal bone operation of a doctor is better realized.
4. A mixed reality simulation system for preoperative training of the temporal bone surgery as set forth in claim 1 wherein: the system control part mainly comprises a motor driver, a Galil motion control card and a computer, detects the position/posture of the touch device in the real environment, combines the data of the virtual part to perform collision detection, outputs the force and moment of soft tissues, and processes and converts the force and moment compensated by the gravity and the friction of the touch device to obtain the expected force and moment to output the touch device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810242877.XA CN108492657B (en) | 2018-03-20 | 2018-03-20 | A kind of mixed reality simulation system trained before the surgery for temporal bone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810242877.XA CN108492657B (en) | 2018-03-20 | 2018-03-20 | A kind of mixed reality simulation system trained before the surgery for temporal bone |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108492657A true CN108492657A (en) | 2018-09-04 |
| CN108492657B CN108492657B (en) | 2019-09-20 |
Family
ID=63319488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810242877.XA Expired - Fee Related CN108492657B (en) | 2018-03-20 | 2018-03-20 | A kind of mixed reality simulation system trained before the surgery for temporal bone |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108492657B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113920807A (en) * | 2021-10-20 | 2022-01-11 | 哈尔滨理工大学 | Bone cutting operation teaching and training system |
| CN115024824A (en) * | 2022-08-11 | 2022-09-09 | 珠海康弘医疗科技有限公司 | Working sheath rotating device for percutaneous spinal endoscope robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102047199A (en) * | 2008-04-16 | 2011-05-04 | 虚拟蛋白质有限责任公司 | Interactive virtual reality image generating system |
| US20120089364A1 (en) * | 2010-10-12 | 2012-04-12 | Canon Kabushiki Kaisha | Three-dimensional measurement apparatus, three-dimensional measurement method, and computer-readable medium storing control program |
| CN103106348A (en) * | 2013-03-08 | 2013-05-15 | 上海交通大学医学院附属第九人民医院 | Virtual surgery simulation method and device thereof |
| CN104658389A (en) * | 2013-11-18 | 2015-05-27 | 上海交通大学医学院附属第九人民医院 | Virtual orthognathic surgery training system and method |
| CN104685551A (en) * | 2012-09-12 | 2015-06-03 | 维塔医疗股份公司 | Mixed reality simulation method and system |
| CN104992582A (en) * | 2015-07-13 | 2015-10-21 | 中国科学院自动化研究所 | Medical minimally-invasive operation training system based on mixed reality |
| CN105303605A (en) * | 2015-10-26 | 2016-02-03 | 哈尔滨理工大学 | Orthopedic surgery operation simulation system on the basis of force feedback |
| CN206711474U (en) * | 2017-03-28 | 2017-12-05 | 杭州爱卓科技有限公司 | A kind of medical simulation integrated machine equipment |
| CN107610574A (en) * | 2017-10-17 | 2018-01-19 | 上海褚信医学科技有限公司 | A kind of analog simulation punctures the device and method of class operation |
| CN108154778A (en) * | 2017-12-28 | 2018-06-12 | 深圳科创广泰技术有限公司 | Based on motion-captured and mixed reality ophthalmologic operation training system and method |
-
2018
- 2018-03-20 CN CN201810242877.XA patent/CN108492657B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102047199A (en) * | 2008-04-16 | 2011-05-04 | 虚拟蛋白质有限责任公司 | Interactive virtual reality image generating system |
| US20120089364A1 (en) * | 2010-10-12 | 2012-04-12 | Canon Kabushiki Kaisha | Three-dimensional measurement apparatus, three-dimensional measurement method, and computer-readable medium storing control program |
| CN104685551A (en) * | 2012-09-12 | 2015-06-03 | 维塔医疗股份公司 | Mixed reality simulation method and system |
| CN103106348A (en) * | 2013-03-08 | 2013-05-15 | 上海交通大学医学院附属第九人民医院 | Virtual surgery simulation method and device thereof |
| CN104658389A (en) * | 2013-11-18 | 2015-05-27 | 上海交通大学医学院附属第九人民医院 | Virtual orthognathic surgery training system and method |
| CN104992582A (en) * | 2015-07-13 | 2015-10-21 | 中国科学院自动化研究所 | Medical minimally-invasive operation training system based on mixed reality |
| CN105303605A (en) * | 2015-10-26 | 2016-02-03 | 哈尔滨理工大学 | Orthopedic surgery operation simulation system on the basis of force feedback |
| CN206711474U (en) * | 2017-03-28 | 2017-12-05 | 杭州爱卓科技有限公司 | A kind of medical simulation integrated machine equipment |
| CN107610574A (en) * | 2017-10-17 | 2018-01-19 | 上海褚信医学科技有限公司 | A kind of analog simulation punctures the device and method of class operation |
| CN108154778A (en) * | 2017-12-28 | 2018-06-12 | 深圳科创广泰技术有限公司 | Based on motion-captured and mixed reality ophthalmologic operation training system and method |
Non-Patent Citations (4)
| Title |
|---|
| SANG HONGQIANG: "A new surgical drill instrument with force sensing and force feedback for robotically assisted otologic surgery", 《JOURNAL OF MEDICAL DEVICES TRANSACTIONS OF THE ASME》 * |
| 叶哲伟: "混合现实技术在骨科的最新应用进展", 《临床外科杂志》 * |
| 桑宏强: "基于外力观测器的MIS机器人双边力反馈控制", 《控制工程》 * |
| 陈刚: "增强/混合现实技术在头颈外科的应用及展望", 《组织工程与重建外科杂志》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113920807A (en) * | 2021-10-20 | 2022-01-11 | 哈尔滨理工大学 | Bone cutting operation teaching and training system |
| CN115024824A (en) * | 2022-08-11 | 2022-09-09 | 珠海康弘医疗科技有限公司 | Working sheath rotating device for percutaneous spinal endoscope robot |
| CN115024824B (en) * | 2022-08-11 | 2022-11-11 | 珠海康弘医疗科技有限公司 | Working sheath rotating device for percutaneous spinal endoscope robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108492657B (en) | 2019-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6049788B2 (en) | Virtual tool operation system | |
| CN102207997B (en) | Force-feedback-based robot micro-wound operation simulating system | |
| Ma et al. | Hand rehabilitation learning system with an exoskeleton robotic glove | |
| Eid et al. | A guided tour in haptic audio visual environments and applications | |
| Srinivasan | What is haptics | |
| O’malley et al. | Haptic interfaces | |
| CN108492657B (en) | A kind of mixed reality simulation system trained before the surgery for temporal bone | |
| Wei et al. | Augmented optometry training simulator with multi-point haptics | |
| Daniulaitis et al. | Medical palpation of deformable tissue using physics-based model for haptic interface robot (HIRO) | |
| Ma et al. | Sensing and force-feedback exoskeleton robotic (SAFER) glove mechanism for hand rehabilitation | |
| WO2007019546A2 (en) | System, device, and methods for simulating surgical wound debridements | |
| KR20050120497A (en) | Virtual dental training and evaluation system using haptic interface based volumetric model | |
| Chen et al. | Development of an augmented reality force feedback virtual surgery training platform | |
| Chen et al. | Dynamic touch‐enabled virtual palpation | |
| Besnea et al. | Integration of a haptic glove in a virtual reality-based environment for medical training and procedures | |
| Covaciu et al. | VR interface for cooperative robots applied in dynamic environments | |
| Ma et al. | Framework for dynamic evaluation of muscle fatigue in manual handling work | |
| Riener et al. | Haptic aspects | |
| Reinig et al. | The United States military's thigh trauma simulator. | |
| Kumar et al. | Haptic System its Constituents and Application in Advanced Technology | |
| Kim et al. | Physically based hybrid approach in real time surgical simulation with force feedback | |
| Sharma et al. | Haptic Feedback–A Review | |
| Terada et al. | Virtual Human Body using Haptic Devices for Endoscopic Surgery Training Simulator | |
| Chen et al. | The Virtual Movable Human Upper Body for Palpatory Diagnostic Training | |
| Yin | Evaluating multimodal feedback for accomplishing assembly tasks in virtual environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190920 Termination date: 20210320 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |