Skip to Main content Skip to Navigation

Development of a haptic simulator for practicing the intraarticular needle injection under echography

Abstract : The articular puncture is a common technique used by rheumatologists to relieve pain. The use of anatomical landmarks helps to guide the needle inside the articulation. However, without the help of imaging guidance, practitioners have difficulty to place correctly the needle and most of the cases lead to an extra articular insertion. The intraarticular needle injection under echography is a solution to ease the procedure. It is however a challenging process since the pratitioner must develop motor-visual coordination to insert the needle and guided it using as a reference a 2D image generated by the ultrasound probe. To master this technique, practitioners can practice on corpses, manikins, and simulators. Simulators give some advantages over corpses and manikins, but most of them do not allow to modify the working environment (patient morphology and/or pathology, …) or to choose the insertion point, which limit the realism of the training. Under the impulsion of SAMSEI, SPARTE project aims to develop a fully functional intraarticular needle injection simulator. This project is supported by 4 laboratories and one health facility. In this PhD thesis, the main contributions are: a new low-computational cost method called “Tracking wall” coupled with virtual fixtures for position and orientation control to render forces during the needle insertion ; the study and validation of three different control laws applied on a pneumatic actuator to render the forces while using a ultrasound probe; and finally the design of a complete functional simulator where users can experiment the needle insertion with echographic guidance.
Document type :
Complete list of metadata
Contributor : ABES STAR :  Contact
Submitted on : Wednesday, December 16, 2020 - 5:44:19 PM
Last modification on : Thursday, September 1, 2022 - 11:14:23 AM
Long-term archiving on: : Wednesday, March 17, 2021 - 7:57:26 PM


Version validated by the jury (STAR)


  • HAL Id : tel-03078578, version 1


Ma de Los Angeles Alamilla-Daniel. Development of a haptic simulator for practicing the intraarticular needle injection under echography. Automatic. Université de Lyon, 2020. English. ⟨NNT : 2020LYSEI017⟩. ⟨tel-03078578⟩



Record views


Files downloads