The Penn State Research Foundation

David Pepley

Jason Z Moore

Scarlett Miller

Katelin Mirkin

Mary Yovanoff

David Han

Inki Kim

A haptic robotic training system includes a haptic robot arm, a position tracking system, a scanning surface, a monitor and a computer. The robotic arm includes a haptic feedback system and holds a custom syringe in place. The position tracking system includes a positon tracking probe shaped like an ultrasound probe and a motion tracker. The scanning surface is a soft pad made from a synthetic phantom tissue. A simulation software receives the positioning data for the syringe from the robotic arm, and for the virtual ultrasound probe from the position tracking system and generates a virtual environment which mimics an actual ultrasound image. The user receives a real time feedback in the form of a haptic feel through the robotic arm, a virtual ultrasound image on the screen, and a performance feedback on the simulation software.

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Johnstown, PA, United States of America

David Pepley