Maddahi Yaser, Zareinia Kourosh, Tomanek Boguslaw, Sutherland Garnette R
1 Project NeuroArm, Department of Clinical Neuroscience and the Hotchkiss Brain Institute, University of Calgary, Calgary, AB, Canada.
2 Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, ON, Canada.
Proc Inst Mech Eng H. 2018 Oct 24:954411918806934. doi: 10.1177/0954411918806934.
A haptic device is an actuated human-machine interface utilized by an operator to dynamically interact with a remote environment. This interaction could be virtual (virtual reality) or physical such as using a robotic arm. To date, different mechanisms have been considered to actuate the haptic device to reflect force feedback from the remote environment. In a low-force environment or limited working envelope, the control of some actuation mechanisms such as hydraulic and pneumatic may be problematic. In the development of a haptic device, challenges include limited space, high accuracy or resolution, limitations in kinematic and dynamic solutions, points of singularity, dexterity as well as control system development/design. Furthermore, the haptic interface designed to operate in a magnetic resonance imaging environment adds additional challenges related to electromagnetic interference, static/variable magnetic fields, and the use of magnetic resonance-compatible materials. Such a device would allow functional magnetic resonance imaging to obtain information on the subject's brain activity while performing a task. When used for surgical trainees, functional magnetic resonance imaging could provide an assessment of surgical skills. In this application, the trainee, located supine within the magnet bore while observing the task environment on a graphical user interface, uses a low-force magnetic resonance-compatible haptic device to perform virtual surgical tasks in a limited space. In the quest to develop such a device, this review reports the multiple challenges faced and their potential solutions. The review also investigates efforts toward prototyping such devices and classifies the main components of a magnetic resonance-compatible device including actuation and sensory systems and materials used.
触觉设备是一种由操作员使用的驱动式人机接口，用于与远程环境进行动态交互。这种交互可以是虚拟的（虚拟现实），也可以是物理的，例如使用机械臂。迄今为止，人们已经考虑了不同的机制来驱动触觉设备，以反映来自远程环境的力反馈。在低力环境或有限的工作空间中，液压和气动等一些驱动机制的控制可能存在问题。在触觉设备的开发中，挑战包括空间有限、高精度或高分辨率、运动学和动力学解决方案的局限性、奇点问题、灵活性以及控制系统的开发/设计。此外，设计用于在磁共振成像环境中运行的触觉接口还带来了与电磁干扰、静磁场/可变磁场以及使用磁共振兼容材料相关的额外挑战。这样的设备将允许功能磁共振成像在执行任务时获取有关受试者大脑活动的信息。当用于外科实习生时，功能磁共振成像可以提供对外科手术技能的评估。在这种应用中，实习生仰卧在磁体孔内，同时在图形用户界面上观察任务环境，使用低力磁共振兼容触觉设备在有限空间内执行虚拟手术任务。在开发这种设备的过程中，本综述报告了所面临的多重挑战及其潜在解决方案。该综述还研究了此类设备的原型制作工作，并对磁共振兼容设备的主要组件进行了分类，包括驱动和传感系统以及所使用的材料。
