Dynamic Thread for Real-Time Knot-Tying

Authors:
F. Wang;E. Burdet;A. Dhanik;T. Poston;C. L. Teo
Affiliations:
National University of Singapore;National University of Singapore;National University of Singapore;National Institute of Advanced Studies;National University of Singapore
Venue:
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Year:
2005

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Abstract

Real-time simulation of knot-tying with visual and force feedback is essential to VR surgery training. We present a physics-based simulator that enables realistic knot tying at haptic speed. The virtual thread obeys Newtonýs laws and behaves naturally. The model covers mechanical properties of real thread such as stretching, compressing, bending and twisting, contact forces with self and the environment, and gravity. Its structure has essential advantages over geometrically based approaches.