Title :

Constraint-based haptic rendering of multirate compliant mechanisms

Author(s) :

Peterlik, Igor [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Nouicer, Mourad [Auteur]
École Nationale Supérieure d'Informatique [Alger] [ESI]
Duriez, Christian [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Cotin, Stéphane [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Kheddar, Abderrahmane [Auteur]
Joint Robotics Laboratory [CNRS-AIST JRL ]
Interactive Digital Humans [IDH]

Journal title :

IEEE Transactions on Haptics (ToH)

Pages :

175-187

Publisher :

IEEE

Publication date :

2011-06

ISSN :

1939-1412

English keyword(s) :

Haptic rendering
deformable
heterogeneous constraints
contact modeling
physically-based simulation
needle simulation
laparoscopic simulation
compliance
multithread
multirate
virtual mechanisms
intermediate representation

HAL domain(s) :

Informatique [cs]/Robotique [cs.RO]

English abstract : [en]

The paper is dedicated to haptic rendering of complex physics-based environment in the context of surgical simulation. A new unified formalism for modeling the mechanical interactions between medical devices and anatomical ...
Show more >The paper is dedicated to haptic rendering of complex physics-based environment in the context of surgical simulation. A new unified formalism for modeling the mechanical interactions between medical devices and anatomical structures and for computing accurately the haptic force feedback is presented. The approach deals with the mechanical interactions using appropriate force and/or motion transmission models named compliant mechanisms. These mechanisms are formulated as a constraint-based problem that is solved in two separate threads running at different frequencies. The first thread processes the whole simulation including the soft-tissue deformations, whereas the second one only deals with computer haptics. This method builds a bridge between the so-called virtual mechanisms (that were proposed for haptic rendering of rigid bodies) and intermediate representations (used for rendering of complex simulations). With this approach, it is possible to describe the specific behavior of various medical devices while relying on a unified method for solving the mechanical interactions between deformable objects and haptic rendering. The technique is demonstrated in interactive simulation of flexible needle insertion through soft anatomical structures with force feedback.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL