Project GROPEHaptic displays for scientific visualization
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
ACM SIGGRAPH 2004 Course Notes
YaDiV—an open platform for 3D visualization and 3D segmentation of medical data
The Visual Computer: International Journal of Computer Graphics - Special Issue for the 3D Anatomical Human Summer School 2010 (3DAH 2010)
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A haptic exploration adds an additional dimension to working with 3D data: a sense of touch (figure 1). This is especially useful in areas such as medical training and pre-surgical planning, entertainment, CAD and others. Each haptic rendering frame consists of three stages: collision detection, collision response and force-feedback generation. In order to feel the 3D data smoothly, an update rate of at least 1 kHz is required [Brooks Jr. et al. 1990]. Unaddressed practical problems for almost all haptic rendering methods are that no guarantees for collision detection could be given and/or that a special topological structure of objects is required. Here we present an approach which does not have these drawbacks. Furthermore our algorithm has nearly constant time complexity independent of data resolution and does not require any additional precomputed structures. We focus on volumetric voxel data, since that is the direct input from the scanning devices. Other data types could be transformed to this one, if necessary.