High Fidelity Haptic Rendering for Deformable Objects Undergoing Topology Changes

Hoeryong Jung 1, 2 Stéphane Cotin 2 Christian Duriez 2 Jérémie Allard 2 Doo Yong Lee 1
1 RSLab - Robotics and Simulation Laboratory
2 SHACRA - Simulation in Healthcare using Computer Research Advances
LIFL - Laboratoire d'Informatique Fondamentale de Lille, Inria Lille - Nord Europe, Inria Nancy - Grand Est
Abstract : The relevance of haptic feedback for minimally invasive surgery has been demonstrated at numerous counts. However, the proposed methods often prove inadequate to handle correct contact computation during the complex interactions or topological changes that can be found in surgical interventions. In this paper, we introduce an approach that allows for accurate computation of contact forces even in the presence of topological changes due to the simulation of soft tissue cutting. We illustrate this approach with a simulation of cataract surgery, a typical example of microsurgery.
Keywords : haptics biomechanics simulation surgery soft tissue cutting
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Conference papers
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https://hal.inria.fr/hal-00688913
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Submitted on : Wednesday, April 18, 2012 - 6:18:53 PM
Last modification on : Monday, June 24, 2019 - 12:32:04 PM
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Hoeryong Jung, Stéphane Cotin, Christian Duriez, Jérémie Allard, Doo Yong Lee. High Fidelity Haptic Rendering for Deformable Objects Undergoing Topology Changes. EuroHaptics - Haptics: Generating and Perceiving Tangible Sensations International Conference, Jul 2010, Amsterdam, Netherlands. pp.262-268, ⟨10.1007/978-3-642-14064-8_38⟩. ⟨hal-00688913⟩

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