A real-time graphic environment for a urological operation 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	2014-03-01T02:42:25Z
dc.date.available	2014-03-01T02:42:25Z
dc.date.issued	2004	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30997
dc.subject	Force model	en
dc.subject	Graphical training simulator	en
dc.subject	Haptics	en
dc.subject.other	Biomedical engineering	en
dc.subject.other	Computer simulation	en
dc.subject.other	Damping	en
dc.subject.other	Deformation	en
dc.subject.other	Endoscopy	en
dc.subject.other	Finite element method	en
dc.subject.other	Position control	en
dc.subject.other	Surgery	en
dc.subject.other	Torque control	en
dc.subject.other	Force models	en
dc.subject.other	Graphical training simulators	en
dc.subject.other	Haptics	en
dc.subject.other	Minimally invasive surgeries (MIS)	en
dc.subject.other	Urology	en
dc.title	A real-time graphic environment for a urological operation training simulator	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2004.1308003	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2004.1308003	en
heal.publicationDate	2004	en
heal.abstract	An OpenGL/C++ real-time graphic environment, part of a training simulator for urological operations, is presented. The graphic environment simulates endoscope insertion in a small diameter deformable tube and is used with a low-force 5-dof force-feedback haptic mechanism. Piecewise Bezier interpolations are used for smooth urethra deformations. A novel particle-based model computes the forces and torques fed to the haptics. Realistic textures from medical databases are employed and a 25 fps refresh rate is achieved using the Rendering Thread method. The overall simulator software is made of three processes running on two distinct platforms, communicating via Ethernet and TCP/IP.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2004.1308003	en
dc.identifier.volume	2004	en
dc.identifier.issue	2	en
dc.identifier.spage	1295	en
dc.identifier.epage	1300	en