High Fidelity Haptic Rendering for Deformable Objects Undergoing Topology Changes

Hoeryong Jung; Stéphane Cotin; Christian Duriez; Jérémie Allard; Doo Yong Lee

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

Document type :

Conference papers

Domain :

Computer Science [cs] / Graphics [cs.GR]

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https://hal.inria.fr/hal-00688913
Contributor : Jérémie Allard <>
Submitted on : Wednesday, April 18, 2012 - 6:18:53 PM
Last modification on : Monday, June 24, 2019 - 12:32:04 PM
Long-term archiving on : Thursday, July 19, 2012 - 2:31:44 AM

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High Fidelity Haptic Rendering for Deformable Objects Undergoing Topology Changes

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