Abstract
This paper presents our experience towards the conception of a virtual reality medical simulator coupled with haptic interaction aimed at training surgeons. This area of research has a long history and a wide variety of approaches have been used. Generally, human tissue can be considered as a deformable body of viscoelastic material. To enable dynamic simulation of these bodies, we have patched three well known physical models onto their geometrical model: mass-spring networks which is more of a discrete object model, finite element method (FEM) based on continuum mechanics and recently long element method (LEM) which we believe to be more promising. We make some comparisons between these models. We also present some numerical resolution method for simulation of deformable bodies. As far as real-time interactions are concerned, we present our work on collision detection, haptic interaction and topology modifications. In the haptic system, we separate the physical simulation and the haptic interaction to ensure stability; the link between the two process is acheived by means of a local model which will be eloborated. We present some experimental results to highlight these works.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Adams R, Hannaford B (1999) Stable haptic interaction with virtual environments. In IEEE Transactions on Robotics & Automation 99.
Baraff D, Witkin A (1992) Dynamic simulation of non-penetrating flexible bodies. In Computer Graphics.
Baraff D, Witkin A (1998) Large steps in cloth simulation. In Computer Graphics (Proc. SIGGRAPH), pp 43–54.
Berkeley-UC (2000) Virtual environments for surgical training and augmentation, (VESTA). URL http://robotics.eecs.berkeley.edu/~mdownes/surgery/surgsim.html.
Bielser D, Maiwald VA, Gross MH (1999) Interactive cuts through 3-dimentional soft tissue. In EUROGRAPHICS’99, vol 18, pp C31–C38.
Boux-de Casson F (2000) Simulation dynamique de corps biologiques et changements de topologie interactifs. PhD thesis, INRIA Rhone-Alpes and Universite de Savoie.
Boux de Casson F, Laugier C (1999) Modelling the dynamics of a human liver for a minimally invasive simulator. In Medical Image Computing & Computer Assisted Intervention-MICCAI’99 Proceedings.
Boux de Casson F, Laugier C (2000) Simulating 2D tearing phenomena for interactive medical surgery simulators. In Computer Animation 2000, Pensilvania, USA.
Bro-Nielsen M, Cotin S (1996) Real-time volumetric deformable models for surgery simulation using finite elements and condensation. In Proc. Eurographics’96.
Carnegie, Mellon University (2000) Center for medical robotics and computer assisted surgery. URL http://www.mrcas.ri.cmu.edu.
Cavusoglu M, Tendick F (2000) Multirate simulation for high fidelity haptic interaction with deformable objects in virtual environments. In Int. Conf. on Robotics and Automation’ 00.
Costa I, Balaniuk R (2001) Static solution for real time deformable objects with fluid inside. In ERCIM News, pp 44–45.
Cotin S (1997) Modeles anatomiques d`eformables en temps-réel. PhD thesis, Epidaure-Sophia Antipolis.
d’Aulignac D, Balaniuk R, Laugier C (2000) A haptic interface for a virtual exam of the human thigh. In Int. Conf. on Robotics and Automation, San Francisco, USA.
d’Aulignac D, Laugier C, Cavusoglu M (1999) Modeling the dynamics of a human thigh for a realistic echographic simulator with force feed-back. In Medical Image Computing and Computer Assisted Intervention-MICCAI’99 Proceedings, pp 1191–1198.
Davies P, Carter F, Roxburgh D, Cuschieri A (1999) Mathematical modelling for keyhole surgery simulations: spleen capsule as an elastic membrane. In Journal of Theoretical Medicine.
Deguet A, Joukhadar A, Laugier C (1998) Models and algorithms for the collision of rigid and deformable bodies. In Robotics: the algorithm perspective, Proc. of the Workshop on the Algorithmic Foundations of Robotics, Houston, USA.
Delingette A, Subsol G, Cotin S (1994) A cranofacial surgery simulation tesbed. In Proc. Visualization in Biomedical Computing (VBC).
Delingette H (1998) Rapport de recherche, no.3506, towards realistic soft tissue modeling in medical simulation. Technical report, INRIA, Sophia-Antipolis.
Delingette H, Cotin S, Ayache N (1999) A hybrid elastic model allowing real-time cutting, deformations and force-feedback for surgery training and simulation. In Computer Animation, Geneva Switzerland.
Ellis E, Sarkar N, Jenkins M (1997) Numerical methods for the force reflection of contact. In ASME Transactions of Dynamic Systems Measurement and Control, pp 768–774.
Gibson F, Mirtich B (1997) A survey of deformable models in computer graphics. Technical report, MERL, Cambridge, MA, http://www.merl.com/reports/TR97-19/index.html.
Gibson S (1997) 3D ChainMail: A fast algorithm for deforming volumetric objects. In Proc. Symp. on Interactive 3D Graphics, ACM SIGGRAPH, pp 149–154.
Gilbert E, Johnson D, Keerthi S (1988) A fast procedure for computing the distance between objects in 3d space. In IEEE Int. Conf. on Robotics and Automation.
Harvard University (2000) Image guided therapy program. URLhttp://splweb.bwh.harvard.edu:8000.
John Hopkins University (2000) Nsf: Enginnering research center for computer-integrated surgical systems and technology. URLhttp://cisstweb.cs.jhu.edu.
Linas Vepstas (2000) High performance graphics hardware design requirements. URL http://linas.org/linux/graphics.html.
Lombardo J, Cani M, F. N (1999) Real-time collision detection for virtual surgery. In Computer Animation, Switzerland.
Mark W, Randolph S, Finch (1996) Adding force feedback to graphics systems: Issues and solutions. In Computer Graphics Proc. SIGGRAPH, New Orleans, Lousiana.
Mendoza C, Laugier C (2001) Realistic haptic rendering for highly deformable virtual objects. In IEEE Virtual Reality VR 2001, Yokohama JAPAN.
MIT (2000) Image guided surgery. URL http://www.ai.mit.edu/projects/medical-vision/index.html.
Nienhuys H, Vanderstappen F (2000) Combining finite element deformation with cutting for surgery simulations. In EUROGRAPHICS 2000.
Norton A, Turk G, Bacon. B, Gerth J, Sweeney. P (1991) Animation of fracture by physical modeling. In The Visual Computer, vol 7, pp 210–217.
O’Brien J, Hodgins J (1999) Graphical models and animation of brittle fracture. In SIGGRAPH 99 Conference Proceedings.
Ruspini D, Kolarov K, O. K (1997) Haptic interaction in virtual environments. In Proccedings of Int. Conf. on Intelligent Robots and Systems 1997, Grenoble-FR.
Stanford Medical School (2000) Center for advance technology in surgery at Stanford. URL http://catss.stanford.edu.
Stanford/NASA (2000) National center for biocomputation. URL http://www-biocomp.stanford.edu.
Sundaraj K, Laugier C (2000) Fast contact localisation of moving deformable polyhedras. In Proc. of the Int. Conf. on Control, Automation, Robotics and Vision,Singapore.
Sundaraj K, Laugier C, F. CI (2001) An approach to LEM modelling: Construction, collision detection and dynamic simulation. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems.
Terzopoulos D, K. F (1988) Modeling inelasctic deformation: Viscoelasticity, plasticity, fracture. In Computer Graphics, Proceedings of SIGGRAPH’88, Atlanta, Georgia.
TIMC-CHU Grenoble (2000) Gestes médico-chirurgicaux assistés par ordinateur (GMCAO). URLhttp://www-timc.imag.fr/gmcao.
Zilles C, Salisbury K (1994) 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, vol 1, pp 146–150.
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
Laugier, C., Mendoza, C., Sundaraj, K. (2003). Towards a Realistic Medical Simulator using Virtual Environments and Haptic Interaction. In: Jarvis, R.A., Zelinsky, A. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36460-9_19
Download citation
DOI: https://doi.org/10.1007/3-540-36460-9_19
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-00550-6
Online ISBN: 978-3-540-36460-3
eBook Packages: Springer Book Archive