{"id":1786,"date":"2025-03-20T13:52:57","date_gmt":"2025-03-20T13:52:57","guid":{"rendered":"https:\/\/alevato.xyz\/?p=1786"},"modified":"2025-07-30T19:15:04","modified_gmt":"2025-07-30T19:15:04","slug":"haptics-force-feedback-technologies-in-fetal-medicine","status":"publish","type":"post","link":"https:\/\/alevato.xyz\/portugues\/haptics-force-feedback-technologies-in-fetal-medicine\/","title":{"rendered":"Tecnologias h\u00e1pticas \/ de feedback de for\u00e7a em medicina fetal"},"content":{"rendered":"<figure class=\"wp-block-vimeo-create vimeo-create__video-container\"><div style=\"width:100%\"><iframe class=\"vimeo-core-video\" loading=\"lazy\" src=\"https:\/\/player.vimeo.com\/video\/1087811271?autopause=true&amp;autoplay=false&amp;background=false&amp;byline=true&amp;controls=true&amp;dnt=true&amp;loop=false&amp;muted=false&amp;pip=false&amp;playsinline=true&amp;portrait=true&amp;responsive=true&amp;speed=false&amp;title=true&amp;transparent=false\" width=\"1280\" height=\"720\" frameborder=\"0\" allowfullscreen title=\"haptic\" style=\"max-width:100%;width:100%;height:100%;aspect-ratio:1280 \/ 720\"><\/iframe><\/div><figcaption class=\"vimeo-create__video-caption\">Treinamento baseado em tecnologia h\u00e1ptica para cirurgia de gastrosquise<\/figcaption><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">O termo \u201ch\u00e1ptico\u201d surgiu para designar a ci\u00eancia do tato, dedicada a estudar e simular press\u00e3o, textura, vibra\u00e7\u00e3o e outras sensa\u00e7\u00f5es biol\u00f3gicas relacionadas. Dessa ci\u00eancia surgiram m\u00faltiplas inova\u00e7\u00f5es que visam dar mais realismo e profundidade no controle de videogames, manches de avi\u00e3o que vibram ou ficam mais dif\u00edceis de puxar em caso de desequil\u00edbrio durante o voo e em celulares que vibram em determinadas situa\u00e7\u00f5es. O estudo de interfaces h\u00e1pticas \u00e9 um campo de pesquisa relativamente novo e que est\u00e1 crescendo rapidamente.&nbsp;<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">O conhecimento adquirido nesse campo foi obtido por meio da colabora\u00e7\u00e3o multidisciplinar, onde in\u00fameras tecnologias, como realidade virtual, impressoras 3D e, mais recentemente, dispositivos h\u00e1pticos 3D.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">A etapa inicial consistiu na segmenta\u00e7\u00e3o de imagens de ultrassonografia (US) de casos reais. Esse processo permitiu a cria\u00e7\u00e3o de modelos tridimensionais (3D) detalhados, garantindo a fidelidade dos tecidos e \u00f3rg\u00e3os simulados. Para isso, foram utilizados \u201csoftware\u201d de segmenta\u00e7\u00e3o e reconstru\u00e7\u00e3o 3D, que converteram imagens 2D em modelos compat\u00edveis com o Unity.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Para possibilitar movimenta\u00e7\u00f5es realistas dos tecidos e \u00f3rg\u00e3os, foi realizado o\u00a0\u201crigging\u201d\u00a0dos modelos 3D. Esse processo envolveu a cria\u00e7\u00e3o de estruturas internas para articula\u00e7\u00e3o e deforma\u00e7\u00e3o, utilizando:<\/p>\n\n\n\n<div class=\"wp-block-greenshift-blocks-container alignwide gspb_container gspb_container-gsbp-40d55ad\" id=\"gspb_container-id-gsbp-40d55ad\">\n<figure class=\"wp-block-image alignfull size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"324\" height=\"474\" src=\"https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-21-at-09.35.01.jpeg\" alt=\"\" class=\"wp-image-1929\" srcset=\"https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-21-at-09.35.01.jpeg 324w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-21-at-09.35.01-205x300.jpeg 205w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-21-at-09.35.01-8x12.jpeg 8w\" sizes=\"auto, (max-width: 324px) 100vw, 324px\" \/><figcaption class=\"wp-element-caption\">Ossos virtuais que possibilitam o movimento natural do cord\u00e3o umbilical<\/figcaption><\/figure>\n\n\n\n<div class=\"wp-block-greenshift-blocks-container gspb_container gspb_container-gsbp-3e1280f\" id=\"gspb_container-id-gsbp-3e1280f\">\n<figure class=\"wp-block-image alignfull size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"953\" height=\"617\" src=\"https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2024-10-22-at-13.58.28.jpeg\" alt=\"\" class=\"wp-image-1928\" srcset=\"https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2024-10-22-at-13.58.28.jpeg 953w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2024-10-22-at-13.58.28-300x194.jpeg 300w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2024-10-22-at-13.58.28-768x497.jpeg 768w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2024-10-22-at-13.58.28-18x12.jpeg 18w\" sizes=\"auto, (max-width: 953px) 100vw, 953px\" \/><figcaption class=\"wp-element-caption\">Restri\u00e7\u00f5es de rota\u00e7\u00e3o limitando a rota\u00e7\u00e3o do osso f\u00eamur do feto<\/figcaption><\/figure>\n\n\n\n<div class=\"wp-block-greenshift-blocks-container gspb_container gspb_container-gsbp-31d7f6f\" id=\"gspb_container-id-gsbp-31d7f6f\">\n<figure class=\"wp-block-image alignfull size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"314\" height=\"210\" src=\"https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-21-at-10.16.10-edited-4.jpeg\" alt=\"\" class=\"wp-image-1938\" srcset=\"https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-21-at-10.16.10-edited-4.jpeg 314w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-21-at-10.16.10-edited-4-300x201.jpeg 300w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-21-at-10.16.10-edited-4-18x12.jpeg 18w\" sizes=\"auto, (max-width: 314px) 100vw, 314px\" \/><figcaption class=\"wp-element-caption\">Colisores para simular a intera\u00e7\u00e3o f\u00edsica com cada parte<\/figcaption><\/figure>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Ossos: Definem os pontos de articula\u00e7\u00e3o e os movimentos internos do modelo.<\/li>\n\n\n\n<li>Pesos de Influ\u00eancia: Controlam o grau de deforma\u00e7\u00e3o de cada \u00e1rea em resposta \u00e0s articula\u00e7\u00f5es.<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">Essa t\u00e9cnica foi essencial para garantir intera\u00e7\u00f5es t\u00e1teis precisas, permitindo manipula\u00e7\u00e3o e reposicionamento de tecidos sem comportamentos artificiais.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Foram utilizados os componentes\u00a0\u201cConfigurable Joint\u201d\u00a0e\u00a0\u201cHinge Joint\u201d do Unity para configurar os graus de liberdade das partes m\u00f3veis do modelo, garantindo maior realismo anat\u00f4mico. As principais configura\u00e7\u00f5es inclu\u00edram:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Restri\u00e7\u00f5es de Rota\u00e7\u00e3o: Limita\u00e7\u00e3o dos \u00e2ngulos nos eixos X, Y e Z para evitar posturas n\u00e3o naturais.<\/li>\n\n\n\n<li>Movimenta\u00e7\u00e3o Controlada: Preven\u00e7\u00e3o de deslocamentos irreais, como a hiperextens\u00e3o do cord\u00e3o umbilical.<\/li>\n\n\n\n<li>Intera\u00e7\u00f5es F\u00edsicas: Ajuste das respostas ao toque para simular rea\u00e7\u00f5es naturais, como o deslocamento de tecidos ao serem pressionados.<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">A simula\u00e7\u00e3o foi integrada ao dispositivo\u00a0\u201cTouch\u201d\u00a0da\u00a0&nbsp;<em>3D Systems<\/em>&nbsp;por meio da biblioteca\u00a0\u201cOpenHaptics\u201d, permitindo feedback t\u00e1til ao usu\u00e1rio. O dispositivo fornece for\u00e7as lineares nos eixos X, Y e Z, mas n\u00e3o suporta torques (for\u00e7as rotacionais). Para contornar essa limita\u00e7\u00e3o:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>As rota\u00e7\u00f5es foram convertidas em for\u00e7as lineares ajustadas.<\/li>\n\n\n\n<li>O sistema foi configurado para simular resist\u00eancia e peso ao manipular tecidos e \u00f3rg\u00e3os, criando uma experi\u00eancia t\u00e1til mais realista.<\/li>\n<\/ul>\n\n\n\n<div class=\"wp-block-greenshift-blocks-container gspb_container gspb_container-gsbp-6dc28c2\" id=\"gspb_container-id-gsbp-6dc28c2\">\n<figure class=\"wp-block-image alignfull size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"2560\" height=\"1920\" src=\"https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-20-at-17.15.15-scaled.jpeg\" alt=\"\" class=\"wp-image-1930\" srcset=\"https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-20-at-17.15.15-scaled.jpeg 2560w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-20-at-17.15.15-300x225.jpeg 300w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-20-at-17.15.15-1024x768.jpeg 1024w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-20-at-17.15.15-768x576.jpeg 768w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-20-at-17.15.15-1536x1152.jpeg 1536w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-20-at-17.15.15-2048x1536.jpeg 2048w, https:\/\/alevato.xyz\/wp-content\/uploads\/2025\/03\/WhatsApp-Image-2025-03-20-at-17.15.15-16x12.jpeg 16w\" sizes=\"auto, (max-width: 2560px) 100vw, 2560px\" \/><figcaption class=\"wp-element-caption\">Mathias interagindo com o software atrav\u00e9s do dispositivo h\u00e1ptico<\/figcaption><\/figure>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Durante o desenvolvimento da simula\u00e7\u00e3o h\u00e1ptica, surgiram desafios t\u00e9cnicos, como a aus\u00eancia de feedback de torque do dispositivo h\u00e1ptico, exigindo adapta\u00e7\u00f5es para evitar deforma\u00e7\u00f5es excessivas e manter a estabilidade das intera\u00e7\u00f5es. Al\u00e9m disso, a sincroniza\u00e7\u00e3o din\u00e2mica de superf\u00edcies t\u00e1teis em tempo real foi um processo complexo, pois era fundamental garantir que as superf\u00edcies fossem criadas e atualizadas com precis\u00e3o durante a simula\u00e7\u00e3o. Outro desafio foi o ajuste dos par\u00e2metros de movimenta\u00e7\u00e3o para respeitar as limita\u00e7\u00f5es anat\u00f4micas sem comprometer a funcionalidade do sistema.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Os resultados t\u00e9cnicos demonstram a efic\u00e1cia da abordagem utilizada. A simula\u00e7\u00e3o t\u00e1til reproduziu com precis\u00e3o a sensa\u00e7\u00e3o de peso e resist\u00eancia ao toque, aspectos essenciais para o treinamento m\u00e9dico realista. A configura\u00e7\u00e3o de\u00a0\u201crigging\u201d\u00a0e juntas garantiu movimenta\u00e7\u00f5es naturais e coerentes, permitindo intera\u00e7\u00f5es fluidas, como reposicionar tecidos ou manipular o cord\u00e3o umbilical. Al\u00e9m disso, o sistema demonstrou flexibilidade ao possibilitar a cria\u00e7\u00e3o e manipula\u00e7\u00e3o de superf\u00edcies t\u00e1teis durante a execu\u00e7\u00e3o, ampliando sua aplicabilidade para diferentes cen\u00e1rios cir\u00fargicos e necessidades de treinamento.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">N\u00f3s acreditamos no uso destes dispositivos para treinamento m\u00e9dico.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"references\">Refer\u00eancias<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">WERNER H, TONNI G, LOPES J. 3D Physical and Virtual Models in Fetal Medicine. Applications and Procedures. Springer, 2023.<\/p>","protected":false},"excerpt":{"rendered":"<p>The term \u201chaptics\u201d emerged to designate the science of touch, dedicated to studying and simulating pressure, texture, vibration and other related biological sensations. 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