An interactive model of the human liver
Identifieur interne :
001359 ( PascalFrancis/Corpus );
précédent :
001358;
suivant :
001360
An interactive model of the human liver
Auteurs : F. Boux De Casson ;
D. D'Aulignac ;
C. LaugierSource :
-
Lecture notes in control and information sciences [ 0170-8643 ] ; 2001.
RBID : Pascal:01-0421974
Descripteurs français
- Pascal (Inist)
- Homme,
Organe,
Hétérogénéité,
Propriété matériau,
Réponse temporelle,
Force,
Modélisation,
Chirurgie,
Simulateur,
Tissu,
Effet non linéaire,
Connexion électrique,
Interaction,
Temps réponse,
Temps réel,
Sensibilité tactile,
Rétroaction,
Boucle réaction,
Haute fréquence,
Topologie.
English descriptors
- KwdEn :
- Electrical connection,
Feedback,
Feedback regulation,
Force,
Heterogeneity,
High frequency,
Human,
Interaction,
Modeling,
Non linear effect,
Organ,
Properties of materials,
Real time,
Response time,
Simulator,
Surgery,
Tactile sensitivity,
Time response,
Tissue,
Topology.
Abstract
In the aim of building a surgical simulator we have developed a model of the human liver. The model respects both the heterogeneous (different material properties depending on the tissue) and non-linear nature of the organ, using binary connectors. We validate that the local behavior of the connector is accurately reproduced on a global scale. Interaction, including collision detection and response, is possible in real-time using a haptic device. For smoother force feedback we introduce a local modeling technique that approximates forces at high frequency. Further we describe a fast method that allows real-time changes of the topology by avoiding subdivision. Finally we illustrate all these techniques by several experimental results.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
| pA |
| A01 | 01 | 1 | | @0 0170-8643 |
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| A05 | | | | @2 271 |
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| A08 | 01 | 1 | ENG | @1 An interactive model of the human liver |
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| A09 | 01 | 1 | ENG | @1 Experimental robotics VII : Waikiki HI, 11-13 December 2000 |
|---|
| A11 | 01 | 1 | | @1 BOUX DE CASSON (F.) |
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| A11 | 02 | 1 | | @1 D'AULIGNAC (D.) |
|---|
| A11 | 03 | 1 | | @1 LAUGIER (C.) |
|---|
| A12 | 01 | 1 | | @1 RUS (Daniela) @9 ed. |
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| A12 | 02 | 1 | | @1 SANJIV SINGH @9 ed. |
|---|
| A14 | 01 | | | @1 GRAVIR/INRIA Rhône Alpes @2 38330 Montbonnot Saint-Martin @3 FRA @Z 1 aut. @Z 2 aut. @Z 3 aut. |
|---|
| A20 | | | | @1 427-436 |
|---|
| A21 | | | | @1 2001 |
|---|
| A23 | 01 | | | @0 ENG |
|---|
| A26 | 01 | | | @0 3-540-42104-1 |
|---|
| A43 | 01 | | | @1 INIST @2 17803 |
|---|
| A44 | | | | @0 A300 |
|---|
| A45 | | | | @0 10 ref. |
|---|
| A47 | 01 | 1 | | @0 01-0421974 |
|---|
| A60 | | | | @1 P @2 C |
|---|
| A61 | | | | @0 A |
|---|
| A64 | 01 | 1 | | @0 Lecture notes in control and information sciences |
|---|
| A66 | 01 | | | @0 DEU |
|---|
| C01 | 01 | | ENG | @0 In the aim of building a surgical simulator we have developed a model of the human liver. The model respects both the heterogeneous (different material properties depending on the tissue) and non-linear nature of the organ, using binary connectors. We validate that the local behavior of the connector is accurately reproduced on a global scale. Interaction, including collision detection and response, is possible in real-time using a haptic device. For smoother force feedback we introduce a local modeling technique that approximates forces at high frequency. Further we describe a fast method that allows real-time changes of the topology by avoiding subdivision. Finally we illustrate all these techniques by several experimental results. |
|---|
| C02 | 01 | X | | @0 001D02D11 |
|---|
| C02 | 02 | X | | @0 002B25N |
|---|
| C03 | 01 | X | FRE | @0 Homme @5 03 |
|---|
| C03 | 01 | X | ENG | @0 Human @5 03 |
|---|
| C03 | 01 | X | SPA | @0 Hombre @5 03 |
|---|
| C03 | 02 | X | FRE | @0 Organe @5 04 |
|---|
| C03 | 02 | X | ENG | @0 Organ @5 04 |
|---|
| C03 | 02 | X | SPA | @0 Organo @5 04 |
|---|
| C03 | 03 | X | FRE | @0 Hétérogénéité @5 05 |
|---|
| C03 | 03 | X | ENG | @0 Heterogeneity @5 05 |
|---|
| C03 | 03 | X | SPA | @0 Heterogeneidad @5 05 |
|---|
| C03 | 04 | X | FRE | @0 Propriété matériau @5 06 |
|---|
| C03 | 04 | X | ENG | @0 Properties of materials @5 06 |
|---|
| C03 | 04 | X | SPA | @0 Propiedad material @5 06 |
|---|
| C03 | 05 | X | FRE | @0 Réponse temporelle @5 07 |
|---|
| C03 | 05 | X | ENG | @0 Time response @5 07 |
|---|
| C03 | 05 | X | SPA | @0 Respuesta temporal @5 07 |
|---|
| C03 | 06 | X | FRE | @0 Force @5 08 |
|---|
| C03 | 06 | X | ENG | @0 Force @5 08 |
|---|
| C03 | 06 | X | SPA | @0 Fuerza @5 08 |
|---|
| C03 | 07 | X | FRE | @0 Modélisation @5 16 |
|---|
| C03 | 07 | X | ENG | @0 Modeling @5 16 |
|---|
| C03 | 07 | X | SPA | @0 Modelización @5 16 |
|---|
| C03 | 08 | X | FRE | @0 Chirurgie @5 17 |
|---|
| C03 | 08 | X | ENG | @0 Surgery @5 17 |
|---|
| C03 | 08 | X | SPA | @0 Cirugía @5 17 |
|---|
| C03 | 09 | X | FRE | @0 Simulateur @5 18 |
|---|
| C03 | 09 | X | ENG | @0 Simulator @5 18 |
|---|
| C03 | 09 | X | SPA | @0 Simulador @5 18 |
|---|
| C03 | 10 | X | FRE | @0 Tissu @5 19 |
|---|
| C03 | 10 | X | ENG | @0 Tissue @5 19 |
|---|
| C03 | 10 | X | SPA | @0 Tejido @5 19 |
|---|
| C03 | 11 | X | FRE | @0 Effet non linéaire @5 20 |
|---|
| C03 | 11 | X | ENG | @0 Non linear effect @5 20 |
|---|
| C03 | 11 | X | SPA | @0 Efecto no lineal @5 20 |
|---|
| C03 | 12 | X | FRE | @0 Connexion électrique @5 22 |
|---|
| C03 | 12 | X | ENG | @0 Electrical connection @5 22 |
|---|
| C03 | 12 | X | SPA | @0 Conexión eléctrica @5 22 |
|---|
| C03 | 13 | X | FRE | @0 Interaction @5 23 |
|---|
| C03 | 13 | X | ENG | @0 Interaction @5 23 |
|---|
| C03 | 13 | X | SPA | @0 Interacción @5 23 |
|---|
| C03 | 14 | X | FRE | @0 Temps réponse @5 24 |
|---|
| C03 | 14 | X | ENG | @0 Response time @5 24 |
|---|
| C03 | 14 | X | SPA | @0 Tiempo respuesta @5 24 |
|---|
| C03 | 15 | X | FRE | @0 Temps réel @5 25 |
|---|
| C03 | 15 | X | ENG | @0 Real time @5 25 |
|---|
| C03 | 15 | X | SPA | @0 Tiempo real @5 25 |
|---|
| C03 | 16 | X | FRE | @0 Sensibilité tactile @5 26 |
|---|
| C03 | 16 | X | ENG | @0 Tactile sensitivity @5 26 |
|---|
| C03 | 16 | X | SPA | @0 Sensibilidad tactil @5 26 |
|---|
| C03 | 17 | X | FRE | @0 Rétroaction @5 27 |
|---|
| C03 | 17 | X | ENG | @0 Feedback regulation @5 27 |
|---|
| C03 | 17 | X | SPA | @0 Retroacción @5 27 |
|---|
| C03 | 18 | X | FRE | @0 Boucle réaction @5 28 |
|---|
| C03 | 18 | X | ENG | @0 Feedback @5 28 |
|---|
| C03 | 18 | X | SPA | @0 Retroalimentación @5 28 |
|---|
| C03 | 19 | X | FRE | @0 Haute fréquence @5 29 |
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| C03 | 19 | X | ENG | @0 High frequency @5 29 |
|---|
| C03 | 19 | X | SPA | @0 Alta frecuencia @5 29 |
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| C03 | 20 | X | FRE | @0 Topologie @5 30 |
|---|
| C03 | 20 | X | ENG | @0 Topology @5 30 |
|---|
| C03 | 20 | X | SPA | @0 Topología @5 30 |
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| N21 | | | | @1 295 |
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|
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| pR |
| A30 | 01 | 1 | ENG | @1 ISER 2000 : international symposium on experimental robotics @2 7 @3 Waikiki HI USA @4 2000-12-11 |
|---|
|
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Format Inist (serveur)
| NO : | PASCAL 01-0421974 CRAN |
|---|
| ET : | An interactive model of the human liver |
|---|
| AU : | BOUX DE CASSON (F.); D'AULIGNAC (D.); LAUGIER (C.); RUS (Daniela); SANJIV SINGH |
|---|
| AF : | GRAVIR/INRIA Rhône Alpes/38330 Montbonnot Saint-Martin/France (1 aut., 2 aut., 3 aut.) |
|---|
| DT : | Publication en série; Congrès; Niveau analytique |
|---|
| SO : | Lecture notes in control and information sciences; ISSN 0170-8643; Allemagne; Da. 2001; Vol. 271; Pp. 427-436; Bibl. 10 ref. |
|---|
| LA : | Anglais |
|---|
| EA : | In the aim of building a surgical simulator we have developed a model of the human liver. The model respects both the heterogeneous (different material properties depending on the tissue) and non-linear nature of the organ, using binary connectors. We validate that the local behavior of the connector is accurately reproduced on a global scale. Interaction, including collision detection and response, is possible in real-time using a haptic device. For smoother force feedback we introduce a local modeling technique that approximates forces at high frequency. Further we describe a fast method that allows real-time changes of the topology by avoiding subdivision. Finally we illustrate all these techniques by several experimental results. |
|---|
| CC : | 001D02D11; 002B25N |
|---|
| FD : | Homme; Organe; Hétérogénéité; Propriété matériau; Réponse temporelle; Force; Modélisation; Chirurgie; Simulateur; Tissu; Effet non linéaire; Connexion électrique; Interaction; Temps réponse; Temps réel; Sensibilité tactile; Rétroaction; Boucle réaction; Haute fréquence; Topologie |
|---|
| ED : | Human; Organ; Heterogeneity; Properties of materials; Time response; Force; Modeling; Surgery; Simulator; Tissue; Non linear effect; Electrical connection; Interaction; Response time; Real time; Tactile sensitivity; Feedback regulation; Feedback; High frequency; Topology |
|---|
| SD : | Hombre; Organo; Heterogeneidad; Propiedad material; Respuesta temporal; Fuerza; Modelización; Cirugía; Simulador; Tejido; Efecto no lineal; Conexión eléctrica; Interacción; Tiempo respuesta; Tiempo real; Sensibilidad tactil; Retroacción; Retroalimentación; Alta frecuencia; Topología |
|---|
| LO : | INIST-17803 |
|---|
| ID : | 01-0421974 |
|---|
Links to Exploration step
Pascal:01-0421974
Le document en format XML
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<idno type="ISSN">0170-8643</idno>
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</seriesStmt><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Electrical connection</term>
<term>Feedback</term>
<term>Feedback regulation</term>
<term>Force</term>
<term>Heterogeneity</term>
<term>High frequency</term>
<term>Human</term>
<term>Interaction</term>
<term>Modeling</term>
<term>Non linear effect</term>
<term>Organ</term>
<term>Properties of materials</term>
<term>Real time</term>
<term>Response time</term>
<term>Simulator</term>
<term>Surgery</term>
<term>Tactile sensitivity</term>
<term>Time response</term>
<term>Tissue</term>
<term>Topology</term>
</keywords><keywords scheme="Pascal" xml:lang="fr"><term>Homme</term>
<term>Organe</term>
<term>Hétérogénéité</term>
<term>Propriété matériau</term>
<term>Réponse temporelle</term>
<term>Force</term>
<term>Modélisation</term>
<term>Chirurgie</term>
<term>Simulateur</term>
<term>Tissu</term>
<term>Effet non linéaire</term>
<term>Connexion électrique</term>
<term>Interaction</term>
<term>Temps réponse</term>
<term>Temps réel</term>
<term>Sensibilité tactile</term>
<term>Rétroaction</term>
<term>Boucle réaction</term>
<term>Haute fréquence</term>
<term>Topologie</term>
</keywords><front><div type="abstract" xml:lang="en">In the aim of building a surgical simulator we have developed a model of the human liver. The model respects both the heterogeneous (different material properties depending on the tissue) and non-linear nature of the organ, using binary connectors. We validate that the local behavior of the connector is accurately reproduced on a global scale. Interaction, including collision detection and response, is possible in real-time using a haptic device. For smoother force feedback we introduce a local modeling technique that approximates forces at high frequency. Further we describe a fast method that allows real-time changes of the topology by avoiding subdivision. Finally we illustrate all these techniques by several experimental results.</div>
</front><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0170-8643</s0>
</fA01><fA05><s2>271</s2>
</fA05><fA08 i1="01" i2="1" l="ENG"><s1>An interactive model of the human liver</s1>
</fA08><fA09 i1="01" i2="1" l="ENG"><s1>Experimental robotics VII : Waikiki HI, 11-13 December 2000</s1>
</fA09><fA11 i1="01" i2="1"><s1>BOUX DE CASSON (F.)</s1>
</fA11><fA11 i1="02" i2="1"><s1>D'AULIGNAC (D.)</s1>
</fA11><fA11 i1="03" i2="1"><s1>LAUGIER (C.)</s1>
</fA11><fA12 i1="01" i2="1"><s1>RUS (Daniela)</s1>
<s9>ed.</s9>
</fA12><fA12 i1="02" i2="1"><s1>SANJIV SINGH</s1>
<s9>ed.</s9>
</fA12><fA14 i1="01"><s1>GRAVIR/INRIA Rhône Alpes</s1>
<s2>38330 Montbonnot Saint-Martin</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</fA14><fA20><s1>427-436</s1>
</fA20><fA21><s1>2001</s1>
</fA21><fA23 i1="01"><s0>ENG</s0>
</fA23><fA26 i1="01"><s0>3-540-42104-1</s0>
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<s2>17803</s2>
</fA43><fA44><s0>A300</s0>
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</fA45><fA47 i1="01" i2="1"><s0>01-0421974</s0>
</fA47><fA60><s1>P</s1>
<s2>C</s2>
</fA60><fA64 i1="01" i2="1"><s0>Lecture notes in control and information sciences</s0>
</fA64><fA66 i1="01"><s0>DEU</s0>
</fA66><fC01 i1="01" l="ENG"><s0>In the aim of building a surgical simulator we have developed a model of the human liver. The model respects both the heterogeneous (different material properties depending on the tissue) and non-linear nature of the organ, using binary connectors. We validate that the local behavior of the connector is accurately reproduced on a global scale. Interaction, including collision detection and response, is possible in real-time using a haptic device. For smoother force feedback we introduce a local modeling technique that approximates forces at high frequency. Further we describe a fast method that allows real-time changes of the topology by avoiding subdivision. Finally we illustrate all these techniques by several experimental results.</s0>
</fC01><fC02 i1="01" i2="X"><s0>001D02D11</s0>
</fC02><fC02 i1="02" i2="X"><s0>002B25N</s0>
</fC02><fC03 i1="01" i2="X" l="FRE"><s0>Homme</s0>
<s5>03</s5>
</fC03><fC03 i1="01" i2="X" l="ENG"><s0>Human</s0>
<s5>03</s5>
</fC03><fC03 i1="01" i2="X" l="SPA"><s0>Hombre</s0>
<s5>03</s5>
</fC03><fC03 i1="02" i2="X" l="FRE"><s0>Organe</s0>
<s5>04</s5>
</fC03><fC03 i1="02" i2="X" l="ENG"><s0>Organ</s0>
<s5>04</s5>
</fC03><fC03 i1="02" i2="X" l="SPA"><s0>Organo</s0>
<s5>04</s5>
</fC03><fC03 i1="03" i2="X" l="FRE"><s0>Hétérogénéité</s0>
<s5>05</s5>
</fC03><fC03 i1="03" i2="X" l="ENG"><s0>Heterogeneity</s0>
<s5>05</s5>
</fC03><fC03 i1="03" i2="X" l="SPA"><s0>Heterogeneidad</s0>
<s5>05</s5>
</fC03><fC03 i1="04" i2="X" l="FRE"><s0>Propriété matériau</s0>
<s5>06</s5>
</fC03><fC03 i1="04" i2="X" l="ENG"><s0>Properties of materials</s0>
<s5>06</s5>
</fC03><fC03 i1="04" i2="X" l="SPA"><s0>Propiedad material</s0>
<s5>06</s5>
</fC03><fC03 i1="05" i2="X" l="FRE"><s0>Réponse temporelle</s0>
<s5>07</s5>
</fC03><fC03 i1="05" i2="X" l="ENG"><s0>Time response</s0>
<s5>07</s5>
</fC03><fC03 i1="05" i2="X" l="SPA"><s0>Respuesta temporal</s0>
<s5>07</s5>
</fC03><fC03 i1="06" i2="X" l="FRE"><s0>Force</s0>
<s5>08</s5>
</fC03><fC03 i1="06" i2="X" l="ENG"><s0>Force</s0>
<s5>08</s5>
</fC03><fC03 i1="06" i2="X" l="SPA"><s0>Fuerza</s0>
<s5>08</s5>
</fC03><fC03 i1="07" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>16</s5>
</fC03><fC03 i1="07" i2="X" l="ENG"><s0>Modeling</s0>
<s5>16</s5>
</fC03><fC03 i1="07" i2="X" l="SPA"><s0>Modelización</s0>
<s5>16</s5>
</fC03><fC03 i1="08" i2="X" l="FRE"><s0>Chirurgie</s0>
<s5>17</s5>
</fC03><fC03 i1="08" i2="X" l="ENG"><s0>Surgery</s0>
<s5>17</s5>
</fC03><fC03 i1="08" i2="X" l="SPA"><s0>Cirugía</s0>
<s5>17</s5>
</fC03><fC03 i1="09" i2="X" l="FRE"><s0>Simulateur</s0>
<s5>18</s5>
</fC03><fC03 i1="09" i2="X" l="ENG"><s0>Simulator</s0>
<s5>18</s5>
</fC03><fC03 i1="09" i2="X" l="SPA"><s0>Simulador</s0>
<s5>18</s5>
</fC03><fC03 i1="10" i2="X" l="FRE"><s0>Tissu</s0>
<s5>19</s5>
</fC03><fC03 i1="10" i2="X" l="ENG"><s0>Tissue</s0>
<s5>19</s5>
</fC03><fC03 i1="10" i2="X" l="SPA"><s0>Tejido</s0>
<s5>19</s5>
</fC03><fC03 i1="11" i2="X" l="FRE"><s0>Effet non linéaire</s0>
<s5>20</s5>
</fC03><fC03 i1="11" i2="X" l="ENG"><s0>Non linear effect</s0>
<s5>20</s5>
</fC03><fC03 i1="11" i2="X" l="SPA"><s0>Efecto no lineal</s0>
<s5>20</s5>
</fC03><fC03 i1="12" i2="X" l="FRE"><s0>Connexion électrique</s0>
<s5>22</s5>
</fC03><fC03 i1="12" i2="X" l="ENG"><s0>Electrical connection</s0>
<s5>22</s5>
</fC03><fC03 i1="12" i2="X" l="SPA"><s0>Conexión eléctrica</s0>
<s5>22</s5>
</fC03><fC03 i1="13" i2="X" l="FRE"><s0>Interaction</s0>
<s5>23</s5>
</fC03><fC03 i1="13" i2="X" l="ENG"><s0>Interaction</s0>
<s5>23</s5>
</fC03><fC03 i1="13" i2="X" l="SPA"><s0>Interacción</s0>
<s5>23</s5>
</fC03><fC03 i1="14" i2="X" l="FRE"><s0>Temps réponse</s0>
<s5>24</s5>
</fC03><fC03 i1="14" i2="X" l="ENG"><s0>Response time</s0>
<s5>24</s5>
</fC03><fC03 i1="14" i2="X" l="SPA"><s0>Tiempo respuesta</s0>
<s5>24</s5>
</fC03><fC03 i1="15" i2="X" l="FRE"><s0>Temps réel</s0>
<s5>25</s5>
</fC03><fC03 i1="15" i2="X" l="ENG"><s0>Real time</s0>
<s5>25</s5>
</fC03><fC03 i1="15" i2="X" l="SPA"><s0>Tiempo real</s0>
<s5>25</s5>
</fC03><fC03 i1="16" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>26</s5>
</fC03><fC03 i1="16" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>26</s5>
</fC03><fC03 i1="16" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>26</s5>
</fC03><fC03 i1="17" i2="X" l="FRE"><s0>Rétroaction</s0>
<s5>27</s5>
</fC03><fC03 i1="17" i2="X" l="ENG"><s0>Feedback regulation</s0>
<s5>27</s5>
</fC03><fC03 i1="17" i2="X" l="SPA"><s0>Retroacción</s0>
<s5>27</s5>
</fC03><fC03 i1="18" i2="X" l="FRE"><s0>Boucle réaction</s0>
<s5>28</s5>
</fC03><fC03 i1="18" i2="X" l="ENG"><s0>Feedback</s0>
<s5>28</s5>
</fC03><fC03 i1="18" i2="X" l="SPA"><s0>Retroalimentación</s0>
<s5>28</s5>
</fC03><fC03 i1="19" i2="X" l="FRE"><s0>Haute fréquence</s0>
<s5>29</s5>
</fC03><fC03 i1="19" i2="X" l="ENG"><s0>High frequency</s0>
<s5>29</s5>
</fC03><fC03 i1="19" i2="X" l="SPA"><s0>Alta frecuencia</s0>
<s5>29</s5>
</fC03><fC03 i1="20" i2="X" l="FRE"><s0>Topologie</s0>
<s5>30</s5>
</fC03><fC03 i1="20" i2="X" l="ENG"><s0>Topology</s0>
<s5>30</s5>
</fC03><fC03 i1="20" i2="X" l="SPA"><s0>Topología</s0>
<s5>30</s5>
</fC03><fN21><s1>295</s1>
</fN21><pR><fA30 i1="01" i2="1" l="ENG"><s1>ISER 2000 : international symposium on experimental robotics</s1>
<s2>7</s2>
<s3>Waikiki HI USA</s3>
<s4>2000-12-11</s4>
</fA30><server><NO>PASCAL 01-0421974 CRAN</NO>
<ET>An interactive model of the human liver</ET>
<AU>BOUX DE CASSON (F.); D'AULIGNAC (D.); LAUGIER (C.); RUS (Daniela); SANJIV SINGH</AU>
<AF>GRAVIR/INRIA Rhône Alpes/38330 Montbonnot Saint-Martin/France (1 aut., 2 aut., 3 aut.)</AF>
<DT>Publication en série; Congrès; Niveau analytique</DT>
<SO>Lecture notes in control and information sciences; ISSN 0170-8643; Allemagne; Da. 2001; Vol. 271; Pp. 427-436; Bibl. 10 ref.</SO>
<LA>Anglais</LA>
<EA>In the aim of building a surgical simulator we have developed a model of the human liver. The model respects both the heterogeneous (different material properties depending on the tissue) and non-linear nature of the organ, using binary connectors. We validate that the local behavior of the connector is accurately reproduced on a global scale. Interaction, including collision detection and response, is possible in real-time using a haptic device. For smoother force feedback we introduce a local modeling technique that approximates forces at high frequency. Further we describe a fast method that allows real-time changes of the topology by avoiding subdivision. Finally we illustrate all these techniques by several experimental results.</EA>
<CC>001D02D11; 002B25N</CC>
<FD>Homme; Organe; Hétérogénéité; Propriété matériau; Réponse temporelle; Force; Modélisation; Chirurgie; Simulateur; Tissu; Effet non linéaire; Connexion électrique; Interaction; Temps réponse; Temps réel; Sensibilité tactile; Rétroaction; Boucle réaction; Haute fréquence; Topologie</FD>
<ED>Human; Organ; Heterogeneity; Properties of materials; Time response; Force; Modeling; Surgery; Simulator; Tissue; Non linear effect; Electrical connection; Interaction; Response time; Real time; Tactile sensitivity; Feedback regulation; Feedback; High frequency; Topology</ED>
<SD>Hombre; Organo; Heterogeneidad; Propiedad material; Respuesta temporal; Fuerza; Modelización; Cirugía; Simulador; Tejido; Efecto no lineal; Conexión eléctrica; Interacción; Tiempo respuesta; Tiempo real; Sensibilidad tactil; Retroacción; Retroalimentación; Alta frecuencia; Topología</SD>
<LO>INIST-17803</LO>
<ID>01-0421974</ID>
</server>
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