A haptic needle manipulation simulator for chinese acupuncture learning and training
VRCAI '04 Proceedings of the 2004 ACM SIGGRAPH international conference on Virtual Reality continuum and its applications in industry
Fast simulation of deformable models in contact using dynamic deformation textures
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
In Vivo Model Estimation and Haptic Characterization of Needle Insertions
International Journal of Robotics Research
Simulations of Needle Insertion by Using a Eulerian Hydrocode FEM and the Experimental Validations
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Nursing Simulation: A Review of the Past 40 Years
Simulation and Gaming
Schemes for the identification of tissue types and boundaries at the tool point for surgical needles
IEEE Transactions on Information Technology in Biomedicine
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Needle operation is one of the fundamental operations in many surgeries such as acupuncture, liver biopsy and anesthesia. During such procedure, the haptic perception is especially important for surgeons to manipulate the needles. In this paper, a simulator with realistic visual and haptic interaction for the needle insertion operation is presented. A fast graphics processing unit (GPU) computation for soft tissue deformation is implemented based on Compute Unified Device Architecture (CUDA) architecture. Novel haptic models for different tissues are developed to generate the resultant force. Besides, an interpolating method of haptic frequency is proposed to acquire more satisfied smooth haptic rendering effect. Experimental results show that a high multi-tissue identification rate can be achieved in the needle interactive simulation system with the real-time soft tissue deformation performed even on the large-scale models.