An interaction model between multiple deformable objects for realistic haptic force feedback in surgical simulations
This paper proposes an interaction model between multiple physically-based deformable object. This model achieves both accurate force feedback and visualization of surgical manipulations (like hold, push and move organs) while approaching the tissues of i
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An interaction model between multiple deformable objects for realistic haptic force feedback in surgical simulations Yoshihiro Kurodaa , Megumi Nakao\ Silke Hackerb Tomohiro Kuroda", Hiroshi Oyama", Masaru Komori d Tetsuya Matsuda\ Takashi Takahashi" a Graduate School of Informatics, Kyoto University, Japan b IMOM University Hospital Hamburg-Eppendorf, Germany C Medical Informatics, Kyoto University Hospital, Japan d Biomedical Science, Shiga University of Medical Science, Japan e-mail: [email protected]
Abstract This paper proposes an interaction model between multiple physically-based deformable object. This model achieves both accurate force feedback and visualization of surgical manipulations (like hold, push and move organs) while approaching the tissues of interest. Accurate force feedback improves surgical realism and enables exact simulation for diagnosis and procedural training, Interaction is represented by mutual iterative procedures of forcible displacement, calculation of deformation and reaction force, The proposed model has been applied to a simulation where a manipulating point pushes a deformable object, which is in contact with a neighboring one, and the influence of interaction on haptic force feedback has been examined, Keywords: Multiple deformable objects, haptic force feedback, surgical simulations
1. Introduction Interest on medical simulation based on Virtual Reality has been growing in medical and computer scientists in this decade, The mechanics and deformation of soft tissue, which are essential to achieve surgical simulations, have been intensively studied in both biomechanics and computer graphics fields [1,2], Although several surgical simulators have been developed using those techniques [2,3], most simulators display haptic force feedback with a single object in no contact with neighboring objects, However, in real-life surgery, dynamic relations among neighbouring organs affects force feedback at a surgeon's hand and changes the surgeon's manipulation, Force feedback is key information to identify organs and its status, especially under the limited views in endoscopic surgery. Therefore, to produce accurate force feedback is important in surgical simulations. The representation of the interaction between multiple deformable objects is a big challenge because of two issues: accurate interaction between multiple deformable objects in the discrete world and fast computation. The interaction model described below represents the interaction so that improved accuracy of force feedback enables us to distinguish slight haptic differences in surgical simulations.
CARS 2002 - H.u. Lemke, MW. Vannier; K. Inamura, A.G. Farman, K. Doi & J.H.c. Reiber (Editors) 'CARS/Springer. All rights reserved.
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2. Methodology 2.1 Representation of interaction Many existing applications deal with the interaction between mUltiple rigid objects or between a rigid and a deformable object. The interaction model between mUltiple deformable objects must be represented in order to achieve purpos
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