Interaction model between elastic objects for haptic feedback considering collisions of soft tissue

Authors:
Yoshihiro Kuroda;Megumi Nakao;Tomohiro Kuroda;Hiroshi Oyama;Masaru Komori
Affiliations:
Graduate School of Medicine, Kyoto University, Yoshida-Konoe-cho, Sakyo, Kyoto 606-8501, Japan;Graduate School of Information Science, Nara Institute of Science and Technology, Takayama 8916-5, Ikoma, Nara 630-0192, Japan;Department of Medical Informatics, Kyoto University Hospital, 54 Kawahara-cho, Shogoin, Sakyo, Kyoto 606-8507, Japan;Graduate School of Medicine, The University of Tokyo, 7-3-1, Hongou, Bunkyo, Tokyo 113-8655, Japan;Computational Biomedicine, Shiga University of Medical Science, Tsukiwa-cho, Seta, Otsu, Siga 520-2192, Japan
Venue:
Computer Methods and Programs in Biomedicine
Year:
2005

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Abstract

The simulation of organ-organ interaction is indispensable for practical and advanced medical VR simulator such as open surgery and indirect palpation. This paper describes a method to represent real-time interaction between elastic objects for accurate force feedback in medical VR simulation. The proposed model defines boundary deformation of colliding elements based on temporary surface forces calculated by temporary deformation. The model produces accurate deformation and force feedback considering collisions of objects as well as prevents unrealistic overlap of objects. A prototype simulator of rectal palpation is constructed on general desktop PC with a haptic device, PHANToM. The system allows users to feel different stiffness of a rear elastic object located behind another elastic object. The results of experiments confirmed the method expresses organ-organ interaction in real-time and produces realistic and perceivable force feedback.