Dynamic thread for real-time knot-tying

Author

Wang, F. ; Burdet, E. ; Dhanik, A. ; Poston, T. ; Teo, C.L.

Author_Institution

Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore

fYear

2005

fDate

18-20 March 2005

Firstpage

507

Lastpage

508

Abstract

Real-time simulation of knot-tying with visual and force feedback is essential to VR surgery training. We present a physics-based simulator that enables realistic knot tying at haptic speed. The virtual thread obeys Newton´s laws and behaves naturally. The model covers mechanical properties of real thread such as stretching, compressing, bending and twisting, contact forces with self and the environment, and gravity. Its structure has essential advantages over geometrically based approaches.

Keywords

computational geometry; force feedback; haptic interfaces; medical computing; real-time systems; surgery; virtual reality; Newton laws; VR surgery training; bending; compressing; contact force; dynamic thread; force feedback; geometrically based approach; mechanical properties; physics-based simulator; real-time knot-tying; real-time simulation; realistic knot tying; stretching; twisting; visual feedback; Force feedback; Friction; Gravity; Haptic interfaces; Kinematics; Mechanical engineering; Springs; Surgery; Topology; Yarn;

fLanguage

English

Publisher

ieee

Conference_Titel

Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005. First Joint

Print_ISBN

0-7695-2310-2

Type

conf

DOI

10.1109/WHC.2005.44

Filename

1406986