Study of Optimal Behavior in Complex Virtual Training Systems

  • Jose San Martin
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6774)


In previous works we have studied the behavior of simple training systems integrated by a haptic device basing on criteria derived from Manipulability concept. The study of complex systems needs to re-define the criteria of optimal design for these systems. It is necessary to analyze how the workspace of two different haptics, simultaneously on the same model, limits the movement of each other. Results of the new proposed measures are used on Insight ARTHRO VR training system. The Minimally Invasive Surgery (MIS) techniques use miniature cameras with microscopes, fiber-optic flashlights and high definition monitors. The camera and the instruments are inserted through small incisions on the skin called portals. The trainer uses two PHANToM OMNi haptic devices, one representing the camera and other the surgical instrumental.


Haptics Workspace Interference Manipulability Optimal Designing 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Jose San Martin
    • 1
  1. 1.Universidad Rey Juan CarlosMadridSpain

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