Embedded Haptic Device Implementation for Soft Tissue Rendering
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Embedded Haptic Device Implementation for Soft Tissue Rendering Humiko Yahaira Hernández Acosta*, Alejandro Miranda Cid, Alejandro Tonatiu Velázquez Sánchez, Mario Ramírez Neria, and Guillermo Manuel Urriolagoitia Calderón Abstract: In this work, a haptic robotic device and its real-time virtual reality interface, deployed in an embedded computational platform is developed, in order to simulate soft tissue rendering contact forces and effects. A control scheme based on a bilateral tele-operation system is proposed recreating a multimodal interaction between the surgical trainer (operator) and the virtual robot (slave) in force-visual feedback environment. The virtual interaction object was modeled as a restriction in the haptic engine, it was implemented with an orthogonal decomposition of contact forces algorithm, generating two independent dynamics and recreated exponential deformation forces, like ones present during the manipulation of real organic tissue. The proposed model contains the biomechanical properties of a soft tissue (pork liver), characterized in an experimental compression test with an indenter. Keywords: Embedded system, force feedback, haptic device, soft tissue, virtual reality, visual feedback.
1.
INTRODUCTION
Virtual reality (VR) systems has been used in medical training, the complete simulation of interaction in medical environments require considerable complex real-time calculations on computational platforms with robust architectures. On the other hand, feedback contact forces that increase the performing in a haptic devices has been required for medical training in order to add tactile perception to the rendered environment, giving to the human arm the sensation of forces. Incorporating haptic feedback into a medical simulation is a big challenge and active research topic in haptics and VR, (see for instance [1–3]). An important aspect that is considered in the development of haptic simulation engines for virtual medical environments is the rendering of contact forces, where multiple theories and algorithms have been developed, concentrating efforts on recreating the sensation of palpating an object in the virtual environment. Pioneering examples in this area are the palpation system of the virtual knee joint [4], it uses a linear stiffness model to simulate the force response of soft tissues and joints. And the palpation system of a subsurface tumor [5], an extension of previous work, both determine the magnitude of feedback
force from real tissue deformation response. An evaluation that emphasizes the importance realism of feedback to improve the performance of palpation in tele-medicine and medical training is reported in [6]. Mesh models of the head were created from computerized tomography data in [7] to allow visual and haptic exploration of malignant tumors through a PHANTOM robot. Another example is a breast tumor palpation simulator described in [8] based on finite element modeling, where multipoint contact is prov
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