A real-time graphic environment for a urological operation training simulator

Abstract

Abstract_An OpenGL/C++ real-time graphic environment, part of a training simulator for urological operations, is presented. The graphic environment simulates endoscope insertion in a small diameter deformable tube and is used with a low-force 5-dof force-feedback haptic mechanism. Piecewise Bezier interpolations are used for smooth urethra deformations. A novel particle-based model computes the forces and torques fed to the haptics. Realistic textures from medical databases are employed and a 25 fps refresh rate is achieved using the Rendering Thread method. The overall simulator software is made of three processes running on two distinct platforms, communicating via Ethernet and TCP/IP.

Multi-modal VR Systems

“…Basdogan et al developed a similar surgical training concept in a VE [6]. One of the recent works belong to Papadopoulos et al and concerns an urological operation training simulator [28]. Although almost all of the above mentioned works contain the word "training system" in their title, only Tendick et al [35] present a detailed investigation about the components of surgical skills and training appropriate to these skills.…”