In the field of minimally invasive surgery (MIS), trainers based on virtual reality provide a very useful, nondegradable, realistic training environment. The project of building this new type of trainers requires the development of new tools. In this paper, we describe a set of new measures that allow calculating the optimal position and orientation of haptic devices versus the virtual workspace of the application. We illustrate the use of these new tools applying them to a practical application.
Optimization of Manipulability in the Design of a Surgery Trainer Based on Virtual Reality
Contributed by the Design Engineering Division of ASME for publication in the Journal of Computing and Information Science in Engineering. Manuscript received April 11, 2011; final manuscript received August 2, 2012; published online September 18, 2012. Assoc. Editor: Kazuhiro Saitou.
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San Martin, J., and Trivino, G. (September 18, 2012). "Optimization of Manipulability in the Design of a Surgery Trainer Based on Virtual Reality." ASME. J. Comput. Inf. Sci. Eng. December 2012; 12(4): 041001. https://doi.org/10.1115/1.4007401
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