scholarly journals Force Aware Haptic Rendering for Intubation Simulation

2018 ◽  
Vol 7 (3.16) ◽  
pp. 61
Author(s):  
Yan Meng ◽  
. .
Keyword(s):  
Collision Detection ◽  
Material Properties ◽  
Surgical Simulation ◽  
Haptic Rendering ◽  
Multiple Models ◽  
Simulation Environment ◽  
Detection Mechanism ◽  
Collision Response ◽  
Multiple Contacts ◽  
Position Correction

We introduce a new haptic rendering method for neonatal endotracheal intubation simulation. The challenging procedure involves multiple models of different material properties, and is performed in the narrow oral cavity involving multiple contacts with tongue, lips, and laryngoscope. Our method first sets up simple collision detection mechanism with adaptive inner sphere tree structure for deformable tongue tissue. Then a collision response is handled with a novel force aware projective position correction. Our method is proved to be effective for heterogeneous simulation environment, therefore can be applied to surgical simulation with similar difficult settings.   

An Efficient Finite-Element Modelling Tool for Surgical Simulation: The ε-Mesh Radius

2001 ◽  
Author(s):  
Naoufel Azouz ◽  
Shahram Payandeh
Keyword(s):  
Finite Element ◽  
Collision Detection ◽  
Surgical Simulation ◽  
Haptic Rendering ◽  
Local Geometry ◽  
Adaptive Meshing ◽  
Element Analysis ◽  
Shape Information ◽  
Scene Representation ◽  
Reaction Forces

Abstract This paper presents an algorithm for determining the boundary volume of local mesh for haptic rendering. Here haptic rendering is defined as generation of reaction forces and contact shape information for graphical display. Haptic rendering consists of a number of components: a) scene representation b) scene modelling for global collision detection c) collision detection; d) contact profile and e) scene display. As oppose to classical Finite Element Method or Multi-Body Systems dynamics, haptic rendering deals with the modelling of object where the user can interact with them in the virtual environment. This paper concerns with some aspects related to the interaction between the surgeon tool (probe or micro-robot) and a model of human tissue and organ. Specifically the paper addresses analogies between traditional notion of mesh generation used in finite-element analysis and notion of haptic rendering. In fact, when the user interacts with the object, it is not clear which level of accuracy is needed for the creating the sense of reaction forces at the point of interaction. That is the motivation for proposing the notion of ε-mesh in analogy with the similar notion used in the theory of adaptive meshing. The ε-mesh radius is a scalar quantity defined as a function of the material properties of the contacting bodies, the expected local geometry of the bodies, the direction and relative approach velocities of the bodies. Relationships are presented which show how relative coarseness of the ε-mesh radius with respect to the mesh sizes outside of the radius affect the relative reaction forces.

scholarly journals UnrealHaptics: Plugins for Advanced VR Interactions in Modern Game Engines

2021 ◽  
Vol 2 ◽  
Author(s):  
Janis Rosskamp ◽  
Hermann Meißenhelter ◽  
Rene Weller ◽  
Marc O. Rüdel ◽  
Johannes Ganser ◽  
...  
Keyword(s):  
Collision Detection ◽  
State Of The Art ◽  
Haptic Rendering ◽  
Use Cases ◽  
Use Case ◽  
The Core ◽  
Multiple Contacts ◽  
Game Engines ◽  
Virtual Grasping ◽  
Second Use

We present UnrealHaptics, a plugin-architecture that enables advanced virtual reality (VR) interactions, such as haptics or grasping in modern game engines. The core is a combination of a state-of-the-art collision detection library with support for very fast and stable force and torque computations and a general device plugin for communication with different input/output hardware devices, such as haptic devices or Cybergloves. Our modular and lightweight architecture makes it easy for other researchers to adapt our plugins to their requirements. We prove the versatility of our plugin architecture by providing two use cases implemented in the Unreal Engine 4 (UE4). In the first use case, we have tested our plugin with a haptic device in different test scenes. For the second use case, we show a virtual hand grasping an object with precise collision detection and handling multiple contacts. We have evaluated the performance in our use cases. The results show that our plugin easily meets the requirements of stable force rendering at 1 kHz for haptic rendering even in highly non-convex scenes, and it can handle the complex contact scenarios of virtual grasping.

FEBio finite element model of a pediatric cervical spine

2021 ◽  
pp. 1-7
Author(s):  
Sean M. Finley ◽  
J. Harley Astin ◽  
Evan Joyce ◽  
Andrew T. Dailey ◽  
Douglas L. Brockmeyer ◽  
...  
Keyword(s):  
Finite Element ◽  
Cervical Spine ◽  
Finite Element Model ◽  
Material Properties ◽  
Surgical Simulation ◽  
Element Model ◽  
Axial Stiffness ◽  
Published Data ◽  
Axial Tension ◽  
Flexion Extension

OBJECTIVE The underlying biomechanical differences between the pediatric and adult cervical spine are incompletely understood. Computational spine modeling can address that knowledge gap. Using a computational method known as finite element modeling, the authors describe the creation and evaluation of a complete pediatric cervical spine model. METHODS Using a thin-slice CT scan of the cervical spine from a 5-year-old boy, a 3D model was created for finite element analysis. The material properties and boundary and loading conditions were created and model analysis performed using open-source software. Because the precise material properties of the pediatric cervical spine are not known, a published parametric approach of scaling adult properties by 50%, 25%, and 10% was used. Each scaled finite element model (FEM) underwent two types of simulations for pediatric cadaver testing (axial tension and cardinal ranges of motion [ROMs]) to assess axial stiffness, ROM, and facet joint force (FJF). The authors evaluated the axial stiffness and flexion-extension ROM predicted by the model using previously published experimental measurements obtained from pediatric cadaveric tissues. RESULTS In the axial tension simulation, the model with 50% adult ligamentous and annulus material properties predicted an axial stiffness of 49 N/mm, which corresponded with previously published data from similarly aged cadavers (46.1 ± 9.6 N/mm). In the flexion-extension simulation, the same 50% model predicted an ROM that was within the range of the similarly aged cohort of cadavers. The subaxial FJFs predicted by the model in extension, lateral bending, and axial rotation were in the range of 1–4 N and, as expected, tended to increase as the ligament and disc material properties decreased. CONCLUSIONS A pediatric cervical spine FEM was created that accurately predicts axial tension and flexion-extension ROM when ligamentous and annulus material properties are reduced to 50% of published adult properties. This model shows promise for use in surgical simulation procedures and as a normal comparison for disease-specific FEMs.

Haptic Rendering: Practical Modeling and Collision Detection

1999 ◽  
Author(s):  
ZhuLiang Cai ◽  
John Dill ◽  
Shahram Payandeh
Keyword(s):  
Surgical Training ◽  
Collision Detection ◽  
Object Representation ◽  
Virtual Assembly ◽  
Detection Algorithm ◽  
Haptic Rendering ◽  
3D Object ◽  
Modeling Techniques ◽  
Simulation Results ◽  
Fast Collision

Abstract 3D collision detection and modeling techniques can be used in the development of haptic rendering schemes which can be used, for example, in surgical training, virtual assembly, or games. Based on a fast collision detection algorithm (RAPID) and 3D object representation, a practical haptic rendering system has been developed. A sub-system determines detailed collision information. Simulation results are presented to demonstrate the practicality of our results.

A Comparison of Two Collision Detection Libraries in a Haptic Simulation Environment

2004 ◽  
Author(s):  
Adam S. Coutee ◽  
Bert Bras
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
High Speed ◽  
Limiting Factors ◽  
Simulation Environment ◽  
Assembly Sequences ◽  
High Speed Collision ◽  
Dynamic Objects ◽  
Haptic Simulation

Modeling the interaction between dynamic objects in a haptically enabled virtual environment requires high-speed collision detection. We present an independent comparison of two publicly available collision detection libraries, V-Clip and SWIFT++, as they perform in our assembly and disassembly simulation. Three assembly sequences, differing only by the complexity of the objects involved, are tested and compared based on speed of execution. In the process, some potentially limiting factors experienced while using these libraries are exposed.

Real-Time Mandibular Angle Reduction Surgical Simulation With Haptic Rendering

2012 ◽  
Vol 16 (6) ◽  
pp. 1105-1114 ◽  
Author(s):  
Qiong Wang ◽  
Hui Chen ◽  
Wen Wu ◽  
Hai-Yang Jin ◽  
Pheng-Ann Heng
Keyword(s):  
Real Time ◽  
Surgical Simulation ◽  
Haptic Rendering ◽  
Mandibular Angle ◽  
Mandibular Angle Reduction

Collision Detection Analysis of 2D Layout Based on Convex Hull Plus Rubber Band Simulation

2014 ◽  
Vol 488-489 ◽  
pp. 1480-1484
Author(s):  
Juan Lu ◽  
Jia Xun Wei ◽  
Wei Xia ◽  
Jun Yan Ma ◽  
Li Ying ◽  
...  
Keyword(s):  
Convex Hull ◽  
Collision Detection ◽  
Design Method ◽  
Rubber Band ◽  
Digital Design ◽  
Detection Methods ◽  
Movement Model ◽  
Model Based ◽  
Collision Response ◽  
Optimized Model

It is an innovative design method in physics that product layout design is abstracted into convex hull plus rubber band simulation layout mode by setting up the optimized model. Based on the physics model of Newtons Second Law, this paper analyzed collision detection methods during the process of realizing reasonable layout, and it is founded that real-time collision detection and collision response during movement, produced components within the given beat, appeared to be the key content of resolving digital model design. In this paper, Area Difference method was adopted to detect when the collision occurred during component movement and what kind of state the component tended to be in collision. At the same time, it also determined the interference degree, solved critical point pose for collision response as well as its generation time and related torque and force, which can confirm the components continued movement model of rotation and sliding. Meanwhile, it employed the Judgment Matrix method to analyze collision response so as to confirm the collision interference relationship and collision action state, movement possessing mode (rotation, sliding and retraction, etc.) within the remaining time after collision with given beat during the layout process. All these provided with a practical solution for digital design of optimized model based on convex hull plus rubber band simulation compact layout.

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