Rendering Virtual Tumors in Real Tissue Mock-Ups Using Haptic Augmented Reality

Abstract

Haptic augmented reality (AR) is an emerging research area, which targets the modulation of haptic properties of real objects by means of virtual feedback. In our research, we explore the feasibility of using this technology for medical training systems. As a possible demonstration example, we currently examine the use of augmentation in the context of breast tumor palpation. The key idea in our prototype system is to augment the real feedback of a silicone breast mock-up with simulated forces stemming from virtual tumors. In this paper, we introduce and evaluate the underlying algorithm to provide these force augmentations. This includes a method for the identification of the contact dynamics model via measurements on real sample objects. The performance of our augmentation is examined quantitatively as well as in a user study. Initial results show that the haptic feedback of indenting a real silicone tumor with a rod can be approximated reasonably well with our algorithm. The advantage of such an augmentation approach over physical training models is the ability to create a nearly infinite variety of palpable findings.

Human Head Stiffness Rendering

“…Wang et al introduce an innovative method in modeling organ's deformation with a sphere-tree representation to provide an ifficient and stable simulation in dental operations [31]. Jeon et al propose an algorithm for providing realistic force augmentations simulating a breast tumor palpation scenario [32]. In the aspect of deformation modeling, Nealen et al survey that the Particle System and the Continuum Model are the two most popular methods [33].…”

Shape modeling of soft real objects using force-feedback haptic interface

“…Note that a simple single axis load cell is sufficient. We use the 6-DoF force sensor only because we have a working system from our previous research on haptic augmented reality [12,13,14]. The PHANToM is controlled by a PC on Windows XP at a sampling rate of 1 kHz.…”

“…Further more, contact-based shape modeling is independent of the optical properties of an object unlike the optical scanner. It can also easily integrated with contact dynamics modeling and stiffness identifica tion (e.g., see [13,14]). The commercial MicroScribe shares sim ilar philosophy, but it can only deal with rigid objects.…”

Haptically Assisting Breast Tumor Detection by Augmenting Abnormal Lump

“…Based on this difference, the system provides additional reaction force when touching around the inclusion. While there exist a few attempts on virtual reality or AR-based tumor palpation simulator for the purpose of medical training, e.g., [2]- [4] (see [5] for review), very little research has been done on assisting abnormality detection in real palpation. One example was a system by Yamamoto et al [6].…”