Simulated interactive needle insertion

Author

DiMaio, Simon P. ; Salcudean, S.E.

Author_Institution

Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada

fYear

2002

fDate

2002

Firstpage

344

Lastpage

351

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

Keywords

digital simulation; haptic interfaces; identification; interactive systems; medical computing; virtual reality; haptic interface; identification; interactive virtual simulation; linear elastostatic tissue model; medical procedures; planar tissue deformations; steering torques; virtual needle insertion; Cameras; Charge coupled devices; Charge-coupled image sensors; Haptic interfaces; Imaging phantoms; Instruments; Manipulators; Needles; Robot vision systems; Teleoperators;

fLanguage

English

Publisher

ieee

Conference_Titel

Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002. HAPTICS 2002. Proceedings. 10th Symposium on

Conference_Location

Orlando, FL

Print_ISBN

0-7695-1489-8

Type

conf

DOI

10.1109/HAPTIC.2002.998979

Filename

998979