Publications by Ulrich Spälter

A modular simulation framework for colonoscopy using a new haptic device

Hannes Bleuler, Evren Samur, Ulrich Spälter

We have developed a multi-threaded framework for colonoscopy simulation utilising OpenGL with an interface to a real-time prototype colonoscopy haptic device. A modular framework has enabled us to support multiple haptic devices and efficiently integrate n ...

IOS Press2008

A Haptic Interface with Motor/Brake System for Colonoscopy Simulation

Hannes Bleuler, Evren Samur, Lionel Flaction, Ulrich Spälter

Training for colonoscopy, which is the examination and treatment of the colon, is often performed on real patients once the physician has passed the novice level. This increases the risk to the patient and lengthens the procedure time. Since a decade ago, ...

2008

Control of a Haptic Interface and a Micromachining Setup with an Open Source Real-Time System

Hannes Bleuler, Rolf Wüthrich, Evren Samur, Lionel Flaction, Ulrich Spälter, Pascal Maillard

Open source software have evolved into powerful tools for real-time control of mechatronic systems. They are of interest for academic purposes, as they promise high flexibility at low cost. In this paper, we investigate the performance of an open source co ...

2007

A Task Specific Kinematic Design Methodology With Application to a 4-DOF Haptic Interface

Hannes Bleuler, Ulrich Spälter

Task specific mechanism design for spatial linkages has remained a challenge. In this paper we present a kinematic design methodology, which combines the formalism of the Lie Group method with the effectiveness of creativity techniques from ’integrated pro ...

2007

Generic and Systematic Evaluation of Haptic Interfaces Based on Testbeds

Hannes Bleuler, Fei Wang, Evren Samur, Ulrich Spälter

The purpose of evaluation procedures is to achieve both qualitative and quantitative statements on haptic rendering realism and performance. Since a haptic interface provides an interaction between a user and a virtual environment, fidelity of a haptic int ...

IEEE2007

A Computer-Based Real-Time Simulation of Interventional Radiology

Hannes Bleuler, Lindo Robert Duratti, Evren Samur, Ulrich Spälter, Fei Wang

Interventional radiology is a minimally invasive procedure where thin instruments, guidewires and catheters or stents are steered through the patient’s vascular system under X- ray imaging for treatment of vascular diseases. The complexity of these procedu ...

2007

A systematic characterization method for gravity-feed micro-hole drilling in glass with spark assisted chemical engraving (SACE)

Hannes Bleuler, Rolf Wüthrich, Ulrich Spälter

Gravity-feed drilling is the most commonly used method for micro-hole drilling in glass with spark assisted chemical engraving (SACE). This paper proposes a method allowing the systematic characterization of this drilling method. The influences of voltage, ...

2006

Haptic interface design and control with application to surgery simulation

Ulrich Spälter

This thesis proposes a framework for haptic devices interacting with virtual environments. As application of the theoretical results a haptic device for the surgical training of hysteroscopy, a gynecologic intervention, is presented. Surgery simulators, wh ...

EPFL2006

A 2-DOF Friction Drive for Haptic Surgery Simulation of Hysteroscopy

Hannes Bleuler, Evren Samur, Ulrich Spälter

2006

A Versatile MRI/fMRI Compatible Spherical 2-Dof Haptic Interface

Hannes Bleuler, Roger Gassert, Roland Moser, Dominique Chapuis, Ulrich Spälter

2006