LEM-an approach for real time physically based soft tissue simulation

Costa, Ivan F.; Balaniuk, Remis

doi:10.1109/robot.2001.932971

Cited by 38 publications

(18 citation statements)

References 10 publications

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“…The deformation is calculated based on Hooke's law and Pascal's principle [66]. It is suitable for simulation of small topological changes such as cutting [67,68].…”

Section: Other Deformation Modelsmentioning

confidence: 99%

Virtual Reality Simulator for Training in Myringotomy with Tube Placement

2016

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Myringotomy refers to a surgical incision in the eardrum, and it is often followed by ventilation tube placement to treat middle-ear infections. The procedure is difficult to learn; hence, the objectives of this work were to develop a virtual-reality training simulator, assess its face and content validity, and implement quantitative performance metrics and assess construct validity.A commercial digital gaming engine (Unity3D) was used to implement the simulator with support for 3D visualization of digital ear models and support for major surgical tasks. A haptic arm co-located with the stereo scene was used to manipulate virtual surgical tools and to provide force feedback.A questionnaire was developed with 14 face validity questions focusing on realism and 6 content validity questions focusing on training potential. Twelve participants from the

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“…The deformation is calculated based on Hooke's law and Pascal's principle [66]. It is suitable for simulation of small topological changes such as cutting [67,68].…”

Section: Other Deformation Modelsmentioning

confidence: 99%

Virtual Reality Simulator for Training in Myringotomy with Tube Placement

2016

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“…Research toward the haptics for soft tissues, mimicking body tissues, has been growing lately. Costa and Balaniuk (2001) presented the application of long elements method for the estimation of object deformation. This deformation was then utilized for haptic rendering.…”

Section: Related Work In the Field Of Haptic Renderingmentioning

confidence: 99%

A Surgical Robot Teleoperation Framework for Providing Haptic Feedback Incorporating Virtual Environment-Based Guidance

Munawar

Fischer

2016

Front. Robot. AI

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In robot-assisted teleoperated laparoscopic surgeries, the patient side manipulators are controlled via the master manipulators, operated by the surgeon. The current generation of robots approved for laparoscopic surgery lack haptic feedback. In theory, haptic feedback could enhance the surgical procedures by providing a palpable sense of the environment as a function of surgeon's hands movements. This research presents an overall control framework for haptic feedback on existing robot platforms and demonstrates on the daVinci Research Kit. Toward this end, the paper discusses the implementation of a flexible framework that incorporates stiffness control with gravity compensation for the surgeon manipulator(s). This is coupled with a sensing and collision detection algorithm for calculating the interaction between the slave manipulators and the surgical area.

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“…A aplicação do princípio de Pascal (a pressão é transmitida igualmente em um fluido confinado) [26] e da conservação do volume permite a solução do sistema de equações e torna possível uma simulação real do ponto de vista físico e rápida (tempo-real) da visão computacional. A deformação global é calculada com precisão levando em conta fenômenos importantes e de difícil simulação, como o movimento de todas as partes do sólido devido à preservação do volume e os efeitos da gravidade.…”

Section: Deformaçãounclassified