The Artificial Intelligence Laboratory and The Research Laboratory of Electronics at the Massachusetts Institute of Technology Cambridge , Massachusetts 02139 Proceedings of the Third PHANToM Users Group Workshop

This paper describes a new interface, which supports volume rendering with haptic interaction, between a haptic device and the application. The currently available GHOST SDIK represents only the haptic environment as a hierarchical collection of geometric objects. We have developed a volume-based GHOST Application Programming Supplement Interface Library (APSIL) for volume visualization which is based on voxel representation, rather than on geometric representation. APSIL is an extension of the GHOST SDIK and consists of some new classes to process volume haptic rendering and compute interaction forces according to the density of the volume data, velocity of movement, and environmental factors. Applications communicate with the haptic device through our APSIL library on a higher-level interface based on GHOST SDK.

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