Contact Model for Haptic Medical Simulations

Saupin, Guillaume; Duriez, Christian; Cotin, Stéphane

doi:10.1007/978-3-540-70521-5_17

Cited by 38 publications

(31 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Depending on the simulation case, computing this inverse could be time consuming for real-time simulation. When this is too time-consuming, we propose several strategies to improve the speed of the algorithm such as using the diagonal of A instead of the whole matrix, or a precomputed inverse [27], or an asynchronous factorization on the GPU [9]. These strategies are implemented in a category of components, called ConstraintCorrections that provide different ways of computing δ v c given a value of λ .…”

Section: Constraint Solversmentioning

confidence: 99%

See 1 more Smart Citation

SOFA: A Multi-Model Framework for Interactive Physical Simulation

Fauré

Duriez

Delingette

et al. 2012

Studies in Mechanobiology, Tissue Engineering and Biomaterials

Self Cite

305

199

View full text Add to dashboard Cite

SOFA (Simulation Open Framework Architecture) is an open-source C++ library primarily targeted at interactive computational medical simulation. SOFA facilitates collaborations between specialists from various domains, by decomposing complex simulators into components designed independently and organized in a scenegraph data structure. Each component encapsulates one of the aspects of a simulation, such as the degrees of freedom, the forces and constraints, the differential equations, the main loop algorithms, the linear solvers, the collision detection al- Authors Suppressed Due to Excessive Length gorithms or the interaction devices. The simulated objects can be represented using several models, each of them optimized for a different task such as the computation of internal forces, collision detection, haptics or visual display. These models are synchronized during the simulation using a mapping mechanism. CPU and GPU implementations can be transparently combined to exploit the computational power of modern hardware architectures. Thanks to this flexible yet efficient architecture, SOFA can be used as a test-bed to compare models and algorithms, or as a basis for the development of complex, high-performance simulators.

show abstract

Section: Constraint Solversmentioning

confidence: 99%

“…Constraint-based rendering: A novel way of dealing with haptic rendering for medical simulation has been proposed in the context of SOFA (see [27] and [24]). The approach deals with the mechanical interactions using appropriate force and/or motion transmission models named compliant mechanisms (see Fig18).…”

Section: Haptic Renderingmentioning

confidence: 99%

SOFA: A Multi-Model Framework for Interactive Physical Simulation

Fauré

Duriez

Delingette

et al. 2012

Studies in Mechanobiology, Tissue Engineering and Biomaterials

Self Cite

305

199

View full text Add to dashboard Cite

show abstract

“…The framework SOFA allows for haptic rendering with Phantom Omni devices (Sensable, Wilmington, MA). The collision response and the haptic algorithm is based on a multithreaded approach [15]. It allows for updating the force feedback at higher rates than the simulation.…”

Section: Validation Of the Atlasmentioning

confidence: 99%

Registration of a Validated Mechanical Atlas of Middle Ear for Surgical Simulation

Kazmitcheff

Duriez²,

Miroir

et al. 2013

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2013

Self Cite

View full text Add to dashboard Cite

Abstract. This paper is centered on the development of a new training and rehearsal simulation system for middle ear surgery. First, we have developed and validated a mechanical atlas based on finite element method of the human middle ear. The atlas is based on a microMRI. Its mechanical behavior computed in real-time has been successfully validated. In addition, we propose a method for the registration of the mechanical atlas on patient imagery. The simulation can be used for a rehearsal surgery with the geometrical anatomy of a given patient and with mechanical data that are validated. Moreover, this process does not necessitate a complete re-built of the model.

show abstract

“…A complete description of the handling of haptic device, positioning and force feedback in the SOFA framework, can be found in [37]. …”

Section: Interactive Simulationmentioning

confidence: 99%

A multi-front eikonal model of cardiac electrophysiology for interactive simulation of radio-frequency ablation

Pernod

Sermesant

Konukoğlu

et al. 2011

Computers & Graphics

View full text Add to dashboard Cite

Virtual reality based therapy simulation meets a growing interest from the medical community due to its potential impact for the training of medical residents and the planning of therapies. However, computer models of the human anatomy are often very computationally demanding, thus incompatible with the constraints of such interactive simulations.In this paper, we propose a fast model of the cardiac electrophysiology based on an eikonal formulation implemented with an anisotropic fast-marching method. We demonstrate the use of this model in the context of a simulator of radio-frequency ablation of cardiac arrhythmia from patient-specific medical imaging data. Indeed, this therapy can be very effective for patients but still suffers from a rather low success rate. Being able to test different ablation strategies on a patient-specific model can have a great clinical impact.In our setting, thanks to a haptic 3D user interface, the user can interactively measure the local extracellular potential, pace locally the myocardium or simulate the burning of cardiac tissue as done in radio-frequency ablation interventions.

show abstract

Contact Model for Haptic Medical Simulations

Cited by 38 publications

References 11 publications

SOFA: A Multi-Model Framework for Interactive Physical Simulation

SOFA: A Multi-Model Framework for Interactive Physical Simulation

Registration of a Validated Mechanical Atlas of Middle Ear for Surgical Simulation

A multi-front eikonal model of cardiac electrophysiology for interactive simulation of radio-frequency ablation

Contact Info

Product

Resources

About