Simulated interactive needle insertion

TitleSimulated interactive needle insertion
Publication TypeConference Paper
Year of Publication2002
AuthorsDiMaio, S. P., and S. E. Salcudean
Conference NameHaptic Interfaces for Virtual Environment and Teleoperator Systems, 2002. HAPTICS 2002. Proceedings. 10th Symposium on
Pagination344 -351
Keywordsdigital simulation, haptic interface, haptic interfaces, identification, interactive systems, interactive virtual simulation, linear elastostatic tissue model, medical computing, medical procedures, planar tissue deformations, steering torques, virtual needle insertion, virtual reality
Abstract

A novel interactive virtual needle insertion simulation is presented. The simulation models are based on planar tissue deformations and forces measured during needle insertion experiments. Users are able to control a three degree-of-freedom virtual needle as it penetrates a linear elastostatic tissue model, while experiencing steering torques and lateral needle forces through a planar haptic interface. Efficient numerical computation techniques permit fast simulation of relatively complex two-dimensional and three-dimensional environments at haptic control rates

URLhttp://dx.doi.org/10.1109/HAPTIC.2002.998979
DOI10.1109/HAPTIC.2002.998979

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