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- W2296394428 abstract "This paper considers interaction of the laparoscopic instrument with virtual objects simulated in minimally invasive surgery trainer, which is a complex device which requires a synthesis between visual and haptic information. To compute the point-to-point interaction forces between the laparoscopic instrument and human internal organs, the software graphic data processing algorithms can be implemented. Inspired by the idea of Haptic Virtual Objects and virtual reality architecture, incorporated visual and haptic feedback, we employ virtual reality (VR) software for detection of collision between soft and rigid body, and soft body deformation. VR physics engine apply a force to each vertex of a triangle tessellated mesh, so as a result we obtain from VR physics rendering engine ready to use force vectors. To obtain that, first we create computer-generated Haptic Virtual Objects (HVO), which can be touched and manipulated with laparoscopic instruments. Next, we employ specific rendering engine working on physical interactions. In proposed software (written in C++) we employ HVO and OGRE 3D graphic rendering and Bullet Physics engines. It calculates a force feedback for yaw, pitch and insertion axes of motion. Force rendering algorithm considers point-based interactions, and the force rendering loop update rate is about 100Hz." @default.
- W2296394428 created "2016-06-24" @default.
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- W2296394428 date "2015-04-12" @default.
- W2296394428 modified "2023-09-23" @default.
- W2296394428 title "Novel force feedback interface for improving human perception in laparoscopic surgical trainer" @default.
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- W2296394428 doi "https://doi.org/10.5555/2873003.2873010" @default.
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