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VOXEL-MAN > Research > Haptic Interaction with Force-Feedback

Haptic Interaction with Force-Feedback

For realistic simulation of surgery, haptic feedback is essential. Since our projects are in bone surgery, we concentrate on the haptic rendering of hard structures. However, standard force-feedback algorithms can not supply precision and resolution which is needed in these applications.

Multi-Point Collision Detection for Realistic Haptic Feedback

One problem of realistic haptic surface rendering is the detection of collisions between tool and object surface and the calculation of a new position for the tool which is collision-free. Most collision detection algorithms used for haptic rendering today are using a single-point-based collision detection algorithm which is not appropriate for the realistic simulation of tool-object interaction. Therefore we have developed a detection algorithm which is using multiple points and calculates collision forces at sub-voxel resolution.

Interactive Drilling

While sculpting the volume, a simplified algorithm for force calculation is used to produce forces which are opposite to the drilling direction.

The following parameters are considered to calculate realistic forces while drilling:

• drilling speed
• amount of removed structure
• location of the removed structure in relation to the drill.

Additionally we modulate vibrations on the haptic device to further improve the realism of drilling.

A Virtual Reality Petrous Bone Surgery Simulator

With the above described techniques, we have built a training system for temporal bone surgery which can be used by studying ENT surgeons or medical students.

Selected Publications

1. Andreas Petersik: Realistische haptische Simulation materialabtragender chirurgischer Eingriffe. Fortschritte in der Robotik Bd. 11. Shaker Verlag, Aachen, 2007. (Zugl. Dissertation, Carl-Friedrich-Gauß-Fakultät, Technische Universität Braunschweig, ISBN 3-8322-6451-2).
2. Andreas Petersik, Bernhard Pflesser, Ulf Tiede, Karl Heinz Höhne, Rudolf Leuwer: Realistic Haptic Interaction in Volume Sculpting for Surgery Simulation. In Nicholas Ayache, Hervé Delingette (eds.): Surgery Simulation and Soft Tissue Modeling, Proc. IS4TM 2003, Lecture Notes in Computer Science 2673, Springer-Verlag, Berlin, 2003, 194-202.
3. Andreas Petersik, Bernhard Pflesser, Ulf Tiede, Karl Heinz Höhne, Rudolf Leuwer: Die realistische haptische Interaktion mit anatomischen Modellen für die Simulation der Felsenbeinchirurgie. In Monika Meiler et al. (eds.): Bildverarbeitung für die Medizin 2002: Algorithmen - Systeme - Anwendungen, Informatik Aktuell, Springer-Verlag, Berlin, 2002, 129-132.3.
4. Andreas Petersik, Bernhard Pflesser, Ulf Tiede, Karl Heinz Höhne, Rudolf Leuwer: Haptic volume interaction with anatomic models at sub-voxel resolution. In 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Proc. Haptics 2002. Orlando, FL, 2002, 66-72.
5. Andreas Petersik, Bernhard Pflesser, Ulf Tiede, Karl Heinz Höhne: Haptic rendering of volumetric anatomic models at sub-voxel resolution. In Chris Baber et al. (eds.): Eurohaptics 2001, Educational Technology Research Paper Series 12, University of Birmingham, 2001, 182-184. (ISSN 1463-9394).