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Development of a haptic model for ultrasound-guided catheter insertion

Key Investigators

• Naomi Catwell (ÉTS)
• Simon Drouin (ÉTS)

Presenter location: Online

Project Description

Integration of SOFA Framework into Unity in order to develop a haptics-enabled training simulator in virtual reality for intravenous catheter insertion using ultrasound guidance.

The objective is to develop a realistic haptic model for both the catheter insertion and ultrasound manipulation using Unity and SOFA framework.

Objectives

1. Become familiar with SOFA Framework for haptics
2. Integrate SOFA Framework into Unity using InfinyTech’s plugin solution
3. Integrate usage of Haply’s Inverse3 haptic robot through SOFA in Unity

Approach and Plan

1. Complete the SOFA Training introduction course
2. Follow InfinyTech3D integration guide for Unity integration of Inverse3
3. Ask the slicer-sofa project community or the SOFA Framework community for input if needed

Progress and Next Steps

1. Integration of Haply Inverse3 into Unity (without SOFA Framework) for a generic needle insertion prototype
2. Implementation of a custom collision detection system using the Haply Inverse3
3. Implementation of spring-based haptic model for generic needle insertion
4. Incomplete : collision detection taking into account the whole shaft of the catheter needle, deformation of arm model used

Illustrations

Background and References