A real-time GPU-based coupled fluid-structure simulation with haptic interaction

This paper describes a haptic device equipped surgical simulator that provides visual and haptic responses for amputation surgery. This simulator, based on our reported volume (constituted from CT slices) manipulation algorithms, can compute and demonstrate bone changes for the procedures in various orthopedic surgeries. The system is equipped with a haptic device. The position and attitude the haptic device are transformed into the volume to simulate and render the oscillating virtual saw together with the virtual bones. The system then judges if every saw tooth immersing in (cutting) any bone. The load for removing the bone chip on a cutting tooth is calculated according to the feed rate, oscillating speed, saw geometry and bone type. The loads on all the saw teeth are then summed into the three positional forces that the haptic device generates and thus the user feels. The system provides real-time visual and haptic refresh speeds for the sawing procedures. A simulation example of amputation surgery demonstrates the sawing haptic and visual feelings of the sawing procedure are consistent and the simulated sawing force resembles the real force. Therefore, this prototype simulator demonstrates the effectiveness as a surgical simulator to rehearsal the surgical procedures, confirm surgical plains and train interns and students.

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Numerical Analysis of Stress on Pump Blade by One-Way Coupled Fluid-Structure Simulation

Journal of Fluid Science and Technology ◽

10.1299/jfst.5.219 ◽

2010 ◽

Vol 5 (2) ◽

pp. 219-234 ◽

Cited By ~ 6

Author(s):

Katsutoshi KOBAYASHI ◽

Shigeyoshi ONO ◽

Ichiro HARADA ◽

Yoshimasa CHIBA

Keyword(s):

Numerical Analysis ◽

Fluid Structure ◽

Structure Simulation

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A Precomputed Approach for Real-Time Haptic Interaction with Fluids

IEEE Computer Graphics and Applications ◽

10.1109/mcg.2007.52 ◽

2007 ◽

Vol 27 (3) ◽

pp. 90-92 ◽

Cited By ~ 5

Author(s):

Yoshinori Dobashi ◽

Tsuyoshi Yamamoto ◽

Makoto Sato ◽

Shoichi Hasegawa ◽

Mitsuaki Kato ◽

...

Keyword(s):

Real Time ◽

Haptic Interaction

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Spatial Constraint Method: A New Approach to Real-Time Haptic Interaction in Virtual Environments

Presence Teleoperators & Virtual Environments ◽

10.1162/1054746041422307 ◽

2004 ◽

Vol 13 (3) ◽

pp. 355-370 ◽

Cited By ~ 1

Author(s):

Koichi Hirota ◽

Masaki Hirayam ◽

Atsuko Tanaka ◽

Toyohisa Kaneko

Keyword(s):

Real Time ◽

Volume Rendering ◽

Computation Time ◽

Surface Rendering ◽

Volume Data ◽

Haptic Interaction ◽

New Approach ◽

Computation Algorithm ◽

Future Work ◽

Constraint Method

In this paper, we propose an approach to real-time haptic interaction based on the concept of simulating the constraining propertes of space. Research on haptic interaction has been conducted from the points of view of both surface and volume rendering. Most approaches to surface rendering—such as the constraint-based god-object method, the point-based approach, and the virtual proxy approach—have dealt only with the interaction with an object surface. Whereas, in volume rendering approaches, algorithms for representing volume data through interactions in space have been investigated. Our approach provides a framework for the representation of haptic interaction with both surface and space. We discretize the space using a tetrahedral cell mesh and associate a constraining property with each cell. The interaction of the haptic interface points with a volume is simulated using the constraining properties of the cells occupied by this volume. We implemented a fast computation algorithm that works at a haptic rate. The algorithm is robust in that any sudden or quick motion of the user does not disturb the computation, and the computation time for each cycle is independent of the complexity of the model as a whole. To demonstrate the performance of the proposed method, we present experimental results on the interaction with models of varying complexity. Also, we discuss some problems that need to be solved in future work.

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On-line precomputation algorithm for real-time haptic interaction with non-linear deformable bodies

World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems ◽

10.1109/whc.2009.4810851 ◽

2009 ◽

Cited By ~ 4

Author(s):

Jiri Filipovic ◽

Igor Peterlik ◽

Ludek Matyska

Keyword(s):

Real Time ◽

Haptic Interaction ◽

Non Linear ◽

Deformable Bodies ◽

On Line

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Determination of Parameters in Compound Fill Sphere Model for Haptic Interaction

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.190-191.277 ◽

2012 ◽

Vol 190-191 ◽

pp. 277-283

Author(s):

Yong Liu ◽

Yan Chao Zhang ◽

Wu Sheng Chou

Keyword(s):

Finite Element ◽

Real Time ◽

Stiffness Matrix ◽

Mass Matrix ◽

Deformable Body ◽

Element Model ◽

Sphere Model ◽

Haptic Interaction ◽

Determination Of Parameters ◽

First Time

The compound Fill Sphere Model (cFSM), which is an extension of common Fill Sphere Model, is widely used in real-time haptic interaction with deformable body. Comparing with finite element based model, the simplicity and efficiency are advantages of cFSM. However, determining implicit parameters of cFSM is a difficult task since a vivid deformation should be attained during haptic interaction. In this paper, to improve the simulation precision, parameter matrices of the cFSM are identified through an analytical method for the first time to our best knowledge. After deriving parameter matrices by linearization, the stiffness matrix, damp matrix and mass matrix of the cFSM are obtained by minimizing errors between stiffness matrix of the Finite Element Model (FEM). In order to evaluate the performance of derived parameters, comparative experiment has been conducted between the cFSM and FEM. Additionally, based on the derived parameters, a real-time haptic interactive scenario is constructed to validate the performance of deformation simulation.

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