Realistic haptic volume interaction for petrous bone surgery simulation
In this paper, a new approach for haptic volume interaction with high resolution voxel-based anatomic models is presented. The haptic rendering is based on a multi-point collision detection approach which provides realistic tool interaction with the model
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Realistic haptic volume interaction for petrous bone surgery simulation a
A. Petersika, B. Pflessera, u. Tiedea, K.H. H6hne a, R. Leuwerb Institute of Mathematics and Computer Science in Medicine (1M OM) bENT-Clinic University Hospital Hamburg-Eppendorf, Germany
[email protected] Abstract In this paper, a new approach for haptic volume interaction with high resolution voxelbased anatomic models is presented. The haptic rendering is based on a multi-point collision detection approach which provides realistic tool interaction with the models. Both haptics and graphics are rendered at sub-voxel resolution, which leads to a high level of detail and enables the exploration of the models at any scale. Forces are calculated at an update rate of 6000 Hz and sent to a 3-Degree-of-Freedom (3-DOF) force-feedback device. Compared to single-point based haptic rendering, the unique approach of the multi-point collision detection in combination with sub-voxel rendering provides more realistic and very detailed haptic sensations. As a main application, a simulator for petrous bone surgery was developed. With a simulated drill, bony structure can be removed and the access path to the middle ear can be studied in a realistic manner. Keywords: Haptic, collision detection, volume interaction
1. Introduction The sense of touch is essential in a wide field of medical applications, like surgery simulators. In contrast to our other senses it allows us to simultaneously explore and interact with our environment. Today most applications concentrate on the simulation of elastic deformations of soft tissue. The simulation of material removal in medical applications is a less developed field and simulation systems either do not include cutting operations at all, or in a simplified manner, which does not provide the 'look and feel' close to a real incision. Moreover haptic rendering is mostly based on traditional computer graphics methods where objects are represented by polygons only. Creating detailed polygonal models of organs result in a huge number of polygons which increases computation time for collision detection dramatically. However for realistic haptic rendering a collision detection algorithm with a constant computation time is essential. Choosing a volume based model, the computation time for a collision detection is independent of the complexity of the scene. Additionally a volume based model allows the simulation of interactive cutting operations and the display of arbitrary cut planes.
CARS 2002 - H. U. Lemke, M W. Vannier; K. fnamura, A.C. Farman, K. Doi & J.H.c. Reiber (Editors) C CARS/Springer. All rights reserved.
253 Furthennore we realized that today 3-DOF haptic rendering is mostly point-based, i.e. only one point is used to calculate collisions and forces. This induces several problems: • •
Discontinuities (e.g. sharp edges) on the surface can lead to discontinuities in the haptic display. The virtual tool can reach points which can not be reached by the simulated real world tool. (A large drill cou
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