Energid is developing a realistic surgery simulator that delivers high fidelity visual and haptic feedback based on the physics of deformable objects. Modeling the interaction of surgical tools with soft biological tissue in real time poses challenges because the precise physical models of organs are not readily available, and the simulation of the behavior of tissue has a high computational burden. In this paper we present a realistic surgery simulation technique which inlcudes novel algorithms for simulating surgical palpation and cutting. We implement a meshfree numerical technique for realistic surgery palpation simulation. Simulation of surgical cutting is one of the most challenging tasks in the development of a surgery simulator. Changes in topology during simulation render precomputed data unusable. Moreover, the process is nonlinear and the underlying physics is complex. We propose a hybrid approach to the simulation of surgical cutting procedures by combining a node snapping technique with a physically based meshfree computational scheme.where J α is the nodal unknown at particle 'J'. The nodal shape function ( ) J h x at particle 'J' is generated using a moving least squares technique [20]: -1 ( ) = W ( ) ( ) ( ) ( ) T J J J References
From design to implementation, bi-handed humanoid manipulators are more complex than common industrial robots. Humanoid manipulators have the properties of redundancy and bifurcation, which enable placement of multiple hands or tools at desired positions and orientations within the robot's workspace in an unlimited number of ways. To address and benefit from these complexities, Energid Technologies has developed a generic XML-based control method supporting virtually any number of degrees of freedom, any type of end-effector constraint, any type of joint, and any optimization criterion for fixed and mobile robots. This paper will address how this technology works, the problems it solves, its ongoing application as a software toolkit accessible to the robotics community.
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