Title :
Simulated interactive needle insertion
Author :
DiMaio, Simon P. ; Salcudean, S.E.
Author_Institution :
Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
A novel interactive virtual needle insertion simulation is presented. The simulation models are based on planar tissue deformations and forces measured during needle insertion experiments. Users are able to control a three degree-of-freedom virtual needle as it penetrates a linear elastostatic tissue model, while experiencing steering torques and lateral needle forces through a planar haptic interface. Efficient numerical computation techniques permit fast simulation of relatively complex two-dimensional and three-dimensional environments at haptic control rates
Keywords :
digital simulation; haptic interfaces; identification; interactive systems; medical computing; virtual reality; haptic interface; identification; interactive virtual simulation; linear elastostatic tissue model; medical procedures; planar tissue deformations; steering torques; virtual needle insertion; Cameras; Charge coupled devices; Charge-coupled image sensors; Haptic interfaces; Imaging phantoms; Instruments; Manipulators; Needles; Robot vision systems; Teleoperators;
Conference_Titel :
Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002. HAPTICS 2002. Proceedings. 10th Symposium on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7695-1489-8
DOI :
10.1109/HAPTIC.2002.998979
