A real-time graphic environment for a urological operation training simulator

An OpenGL/C++ real-time graphic environment, part of a training simulator for urological operations, is presented. The graphic environment simulates endoscope insertion in a small diameter deformable tube and is used with a low-force 5-dof force-feedback haptic mechanism. Piecewise Bezier interpolations are used for smooth urethra deformations. A novel particle-based model computes the forces and torques fed to the haptics. Realistic textures from medical databases are employed and a 25 fps refresh rate is achieved using the Rendering Thread method. The overall simulator software is made of three processes running on two distinct platforms, communicating via Ethernet and TCP/IP.