Interaction model between elastic objects for haptic feedback considering collisions of soft tissue
Interaction model between elastic objects for haptic feedback considering collisions of soft tissue
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DOI：
10.1016/j.cmpb.2005.09.001
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发表时间：
2005-12-01
影响因子：
6.1
通讯作者：
Komori, M
中科院分区：
文献类型：
--
作者：
Kuroda, Y;Nakao, M;Komori, M
器官间相互作用的模拟是开放手术、间接触诊等实用先进的医学虚拟现实模拟器不可缺少的部分。本文介绍了一种方法来表示实时弹性物体之间的相互作用，精确的力反馈在医学虚拟现实仿真。该模型基于由临时变形计算出的临时表面力来定义碰撞单元的边界变形。该模型产生精确的变形和力反馈，考虑对象的碰撞，以及防止不切实际的重叠对象。在通用的.一台带有触觉设备的台式PC，PHANToM。该系统允许用户用脚踩踏位于另一个弹性物体后面的后部弹性物体的不同刚度。实验结果表明，该方法能够实时表达器官间的相互作用，并产生逼真的、可感知的力反馈。(c)2005爱思唯尔爱尔兰有限公司保留所有权利。
The simulation of organ-organ interaction is indispensable for practical and advanced medical VR simulator such as open surgery and indirect palpation. This paper describes a method to represent real-time interaction between elastic objects for accurate force feedback in medical VR simulation. The proposed model defines boundary deformation of colliding elements based on temporary surface forces calcutated by temporary deformation. The model produces accurate deformation and force feedback considering collisions of objects as well as prevents unrealistic overlap of objects. A prototype simulator of rectal palpation is constructed on general. desktop PC with a haptic device, PHANToM. The system allows users to feet different stiffness of a rear elastic object located behind another elastic object. The results of experiments confirmed the method expresses organ-organ interaction in real-time and produces realistic and perceivable force feedback. (c) 2005 Elsevier Ireland Ltd. All rights reserved.