This paper proposes a novel algorithm for haptic rendering from time varying point clouds captured using an Xbox Kinect RGB-D camera. Existing methods for point-based haptic rendering using a proxy can not directly be applied in this situation since no information about the underlying objects is given. This paper extends the notion of proxy to point clouds. The haptic algorithm presented here renders haptic forces from point clouds captured in real-time representing both static and dynamic objects.
From our experience we conclude that the PhotoDerm VL is an excellent device to treat vascular lesions as there were hardly any side effects seen, however, the user needs a sufficient experience to get good results.
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