Development of a real-time visual and force environment for a haptic medical training simulator

Papadopoulos, E; Tsamis, A; Vlachos, K

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Tsamis, A	en
dc.contributor.author	Vlachos, K	en
dc.date.accessioned	2014-03-01T01:28:09Z
dc.date.available	2014-03-01T01:28:09Z
dc.date.issued	2008	en
dc.identifier.issn	14335298	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18733
dc.subject	Force model	en
dc.subject	Graphical training simulator	en
dc.subject	Haptics	en
dc.subject.other	Deformation environments	en
dc.subject.other	Depth of field	en
dc.subject.other	Force model	en
dc.subject.other	Graphical representations	en
dc.subject.other	Haptic devices	en
dc.subject.other	Haptics	en
dc.subject.other	Inner walls	en
dc.subject.other	Medical training simulator	en
dc.subject.other	Piece-wise	en
dc.subject.other	Real-time techniques	en
dc.subject.other	Refresh rate	en
dc.subject.other	Surgical training	en
dc.subject.other	Tissue textures	en
dc.subject.other	Training simulator	en
dc.subject.other	Deformation	en
dc.subject.other	Graphic methods	en
dc.subject.other	Simulators	en
dc.title	Development of a real-time visual and force environment for a haptic medical training simulator	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/s10015-007-0486-0	en
heal.identifier.secondary	http://dx.doi.org/10.1007/s10015-007-0486-0	en
heal.publicationDate	2008	en
heal.abstract	In this article, a real-time, visual and force environment for a 5-dof haptic urological training simulator is presented that deals with a low-force, high-deformation environment. A real-time graphical representation of the male urethra during the insertion of an endoscope is developed. Smooth urethra deformations are produced by a mesh of piece-wise Bézier interpolations, while its inner wall is simulated by realistic tissue textures. Efficient real-time techniques are developed that introduce endoscope camera depth-of-field effects. A novel particle-based model computes in real-time the forces fed to the haptic device. A 13 fps refresh rate is achieved on a 2-GHz computer with the depth-of-field effect activated, while the rate is doubled to 26 fps with this feature disabled. It is expected that the simulator will contribute to ethical, efficient, and modern surgical training. © 2008 International Symposium on Artificial Life and Robotics (ISAROB).	en
heal.journalName	Artificial Life and Robotics	en
dc.identifier.doi	10.1007/s10015-007-0486-0	en
dc.identifier.volume	12	en
dc.identifier.issue	1-2	en
dc.identifier.spage	307	en
dc.identifier.epage	316	en