Abstmd-Medical education has a strong ueed for palpation training. Haptic sense is indispensable for the detection of subsurface tumor. A Virtual Resliq (VR) training far breast palpation simulation was created u t i i n g the newly designed multi-nngered Haptic Interface Robot (HIRO). The simulation allows the user to perform breast palpation. A realistic model of the breast Was developed and a physicallybased modeling is achieved by using a Finite Element Method @EM) that provides correct reaction forces and deformations of a viltual deformable object. A \a medical application system for breast palpation using HlRO was developed and examined in a real-time experiment.
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