TY  - JOUR
ID  - 21059283
AU  - Neubauer, André
AU  - Brooks, Rupert
AU  - Brouwer, Iman
AU  - Debergue, Patricia
AU  - Laroche, Denis
T1  - Haptic collision handling for simulation of transnasal surgery
JO  - Computer Animation and Virtual Worlds
PY  - 2012
KW  - surgical simulation
KW  - transnasal endoscopy
KW  - collision handling
KW  - haptics
KW  - virtual coupling
N2  - Simulation 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.
M1  - 139281
DO  - http://dx.doi.org/10.1002/cav.1489
U3  - National Research Council Canada
U3  - Conseil national de recherches Canada (CNRC-NRC)
ER  -