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Hybrid Cutting of Deformable Solids

D. Steinemann, M. Harders, G. Székely, and M. Gross
IEEE Computer Society Conference on Virtual Reality


A fundamental element of a surgical simulator system aiming at high fidelity is the interface to the simulation. The input device, as well as haptic feedback from the system should resemble the real environment. In this paper we describe all elements of the haptic interface module developed for hysteroscopy simulation. An actual surgical instrument has been modified in order to allow natural control of the intervention. Moreover, a haptic mechanism providing force-feedback and allowing complete removal of the instrument has been developed. A control scheme is proposed, which also takes into account limits of human perception. Furthermore, strategies for friction and gravity compensation are outlined. Finally, a haptic rendering framework has been created, which provides the coupling between the tissue deformation computation and the haptic hardware.

  author = {D. Steinemann and M. Harders and G. Székely and and M. Gross},
  title = {Hybrid Cutting of Deformable Solids},
  booktitle = {IEEE Computer Society Conference on Virtual Reality},
  year = {2006},
  pages = {35-42},
  keywords = {}