Abstract
A method for real time simulation and interaction of deformable objects in medical simulators is proposed. We are interested in applications for training surgeons using haptic interaction. For haptic purposes, our medical simulator is based on a dual model architecture; simulation and haptics. We currently use a new physical model LEM - Long Element Method as the simulation model. We find that this model can produce satisfactory global changes for small and large deformations. In this paper, we will focus on implementing an haptic interaction method with stable and realistic force feedback designed for use with LEM. A deformable buffer model is used to solve problems arising from the difference between sampling and update rates. We look into the construction and the updating process of this buffer model. Our approach to linking the two models to get realistic force feedback is also presented. The physical and haptic model are then coupled to be part of a surgical simulator for soft tissue. We present some results from our prototype medical simulator for echography exams of the human thigh.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
R. Adams and B. Hannaford. Stable haptic interaction with virtual environments. In IEEE Transactions on Robotics and Automation, 1999.
O. Astley and H. Vincent. Multirate haptic simulation achieved by coupling finite element meshes through norton equivalents. In IEEE Conf. on Robotics and Automations, Leuven, BELGIUM, pages 989–994, 1998.
R. Balaniuk. Building a haptic interface based on a buffer model. In IEEE Int. Conf. on Robotics and Automation, USA, apr 2000.
M. Cavusoglu and F. Tendick. Multirate simulation for high fidelity haptic interaction with deformable objects in virtual environments. In IEEE Int. Conf. on Robotics and Automation, 2000.
I. F. Costa and R. Balaniuk. Static solution for real time deformable objects with fluid inside. In ERCIM News, pages 44–45, jan 2001.
D. d’Aulignac, R. Balaniuk, and C. Laugier. A haptic interface for a virtual exam of the human thigh. In IEEE Int. Conf. on Robotics and Automation, USA, apr 2000.
G. Debunne, M. Desbrun, M. Cani, and A. Barr. Dynamic real-time deformations using space and time adaptive sampling. In Computer Graphics, SIGGRAPH, USA, 2001.
E. Ellis, N. Sarkar, and M. Jenkins. Numerical methods for the force reflectionof contact. In ASME Transactions of Dynamic Systems Measurement and Control, 1997.
S. F. Gibson and B. Mirtich. A survey of deformable models in computer graphics. Technical report, MERL, Cambridge, MA, 1997.
D. James and K. Pai. A unified treatment of elastostatic contact simulation for real time haptics. In Haptics-e Journal, http://www.haptics-e.org
W. Mark, S. Randolph, and Finch. Adding force feedback to graphics systems: Issues and solutions. In Computer Graphics, SIGGRAPH, New Orleans, Lousiana, aug 1996.
C. Mendoza and C. Laugier. Realistic haptic rendering for highly deformable virtual objects. In IEEE Virtual Reality (VR), Yokohama JAPAN, mar 2001.
G. Picinbono. Modeles geometriques et physiques pour la simulation d’interventions chirurgicales. In PhD Thesis, INRIA Sophia-Antipolis, FRANCE, 2001.
D. Ruspini, K. Kolarov, and O. Khatib. Haptic interaction in virtual environments. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Grenoble, France, 1997.
K. Sundaraj, C. Laugier, and I. F. Costa. An approach to lem modelling: Construction, collision detection and dynamic simulation. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2001.
Y. Zhuang. Real-time simulation of physically realistic global deformations. In PhD. Thesis, University of California, Berkeley, oct 2000.
C. Zilles and K. Salisbury. A constraint-based god-object method for haptic display. In ASME, Haptic Interfaces for Virtual Environment and Teleoperator Systems, Dynamics Systems and Control, Chicago, Illinois, volume 1, pages 146–150, nov 1994.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Mendoza, C., Sundaraj, K., Laugier, C. (2003). Faithful Haptic Feedback in Medical Simulators. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_37
Download citation
DOI: https://doi.org/10.1007/3-540-36268-1_37
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-00305-2
Online ISBN: 978-3-540-36268-5
eBook Packages: Springer Book Archive