A study on design and analysis of virtual fixtures for cutting in training environments

Author

Prada, Rodolfo ; Payandeh, Shahram

Author_Institution

Exp. Robotics & Graphics Lab., Simon Fraser Univ., Burnaby, BC, Canada

fYear

2005

fDate

18-20 March 2005

Firstpage

375

Lastpage

380

Abstract

The escalating use of share-controlled applications, virtual training environments and tele-manipulated devices has motivated the application of force-feedback assistance. In this paper, we present and compare a set of geometrically-based virtual fixtures that provide graphic and force-feedback assistance for path-following task. Two types of force fields (i.e. attractive and reactive) defined within the virtual fixtures were implemented. A preliminary study on these fixtures suggests improvements in performance when force cues are provided through these entities.

Keywords

computational geometry; force feedback; haptic interfaces; manipulators; telerobotics; virtual reality; cutting algorithm; force cues; force fields; force-feedback assistance; geometrically-based virtual fixtures; training environments; virtual fixtures; Biological tissues; Data structures; Engines; Fixtures; Graphics; Haptic interfaces; Laparoscopes; Layout; Minimally invasive surgery; Virtual environment;

fLanguage

English

Publisher

ieee

Conference_Titel

Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005. First Joint

Print_ISBN

0-7695-2310-2

Type

conf

DOI

10.1109/WHC.2005.19

Filename

1406959