Realistic Haptic Feedback for Material Removal in Medical Simulations

We present a novel haptic rendering method to simulate material removal in medical simulations at haptic rates. The core of our method is a new massively-parallel continuous collision detection algorithm in combination with a stable and flexible 6-DOF collision response scheme that combines penalty- and constraint-based force computation. Moreover, a volumetric object representation of the 3D objects allows us to derive a realistic local material model from experimental human cadaveric data, as well as support real-time continuous material removal. We have applied our algorithm to a hip replacement simulator and two dentistry-related simulations for root-canal opening and caries removal. The results show realistic continuous forces and torques at haptic rates.

[1]  Zhonghua Lu,et al.  Towards physics-based interactive simulation of electrocautery procedures using PhysX , 2010, 2010 IEEE Haptics Symposium.

[2]  Yan Zhou,et al.  Research of virtual cutting technology based on haptic feedback , 2009, 2009 IEEE 10th International Conference on Computer-Aided Industrial Design & Conceptual Design.

[3]  Berk Gonenc,et al.  Haptic interface with hybrid actuator for virtual needle insertion and tissue cutting , 2012, 2012 IEEE Haptics Symposium (HAPTICS).

[4]  P.X. Liu,et al.  Interactive Simulation of Progressive Cutting Model , 2006, 2006 6th World Congress on Intelligent Control and Automation.

[5]  James J. Troy,et al.  Six degree-of-freedom haptic rendering using voxel sampling , 1999, SIGGRAPH.

[6]  Vincent Hayward,et al.  Design constraints for haptic surgery simulation , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[7]  Suvranu De,et al.  On the use of meshfree methods and a geometry based surgical cutting algorithm in multimodal medical simulations , 2004, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings..

[8]  James F. Blinn,et al.  A Generalization of Algebraic Surface Drawing , 1982, TOGS.

[9]  Y. Wang,et al.  Cutting force model of dental training system , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Allison M. Okamura,et al.  A fracture mechanics approach to haptic synthesis of tissue cutting with scissors , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[11]  Yuan-Shin Lee,et al.  Cutting on triangle mesh: local model-based haptic display for dental preparation surgery simulation , 2005, IEEE Transactions on Visualization and Computer Graphics.

[12]  Gabriel Zachmann,et al.  Inner Sphere Trees and Their Application to Collision Detection , 2008, Virtual Realities.

[13]  Imran Fazal,et al.  Needle insertion forces for haptic feedback device , 2009, 2009 IEEE Symposium on Industrial Electronics & Applications.

[14]  John Kenneth Salisbury,et al.  A constraint-based god-object method for haptic display , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[15]  Alan Liu,et al.  Real-time Volumetric Haptic and Visual Burrhole Simulation , 2007, 2007 IEEE Virtual Reality Conference.

[16]  François Conti,et al.  CHAI: An Open-Source Library for the Rapid Development of Haptic Scenes , 2005 .

[17]  Zhiyuan Yan,et al.  A simulation method of soft tissue cutting with haptics , 2012, 2012 IEEE International Conference on Mechatronics and Automation.

[18]  Luigi Pelliccia,et al.  Using Industrial Robots as Haptic Devices for VR-Training , 2018, 2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR).

[19]  Allison M. Okamura,et al.  On the display of haptic recordings for cutting biological tissues , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[20]  C A Coulomb,et al.  ESSAI SUR UNE APPLICATION DES REGLES DE MAXIMIS ET MINIMIS A QUELQUES PROBLEMES DE STATIQUE RELATIFS A L'ARCHITECTURE (ESSAY ON MAXIMUMS AND MINIMUMS OF RULES TO SOME STATIC PROBLEMS RELATING TO ARCHITECTURE) , 1973 .

[21]  Jinah Park,et al.  Volume-based haptic model for bone-drilling , 2008, 2008 International Conference on Control, Automation and Systems.

[22]  Hiromi T. Tanaka,et al.  An Algorithm for Cutting 3D Surface Meshes , 2006, 18th International Conference on Pattern Recognition (ICPR'06).

[23]  Bijan Shirinzadeh,et al.  Physics-Based Haptic Simulation of Bone Machining , 2011, IEEE Transactions on Haptics.

[24]  Mark C Preul,et al.  Interactive stereoscopic virtual reality: a new tool for neurosurgical education. Technical note. , 2002, Journal of neurosurgery.