Haptic collision handling for simulation of transnasal surgery

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DOIResolve DOI: http://doi.org/10.1002/cav.1489
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TypeArticle
Journal titleComputer Animation and Virtual Worlds
Volume24
Issue2
Pages127141; # of pages: 15
Subjectsurgical simulation; transnasal endoscopy; collision handling; haptics; virtual coupling
AbstractSimulation of endoscopic navigation in the narrow nasal cavity poses important challenges to the computation of adequate and near-realistic collision response and haptic feedback because extensive multidirectional contact and massive tissue deformations are inevitable. We present a virtual coupling algorithm that provides stable collision response as well as intuitive and smooth haptic interaction in all phases of the simulation. In each iteration, continuous collision detection between the point shell representing the surface of the virtual patient anatomy and the endoscope, represented by a cylinder, is performed. This allows for rolling back the instrument movement to the point in time the first collision occurred. Subsequently, a relaxation process locally optimizes the position and orientation of the instrument. A novel method of applying contact forces to colliding tissues and thus triggering appropriate deformations improves the fluency of navigation. This paper describes the algorithm and presents experimental results.
Publication date
LanguageEnglish
AffiliationNational Research Council Canada
Peer reviewedYes
NRC number139281
NPARC number21059283
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Record identifiere466f389-50b0-4629-9e54-2c80164317d1
Record created2012-12-03
Record modified2016-05-09
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