Constraint-Based Haptic Rendering of Multirate Compliant Mechanisms.
Identifieur interne : 00B224 ( Main/Merge ); précédent : 00B223; suivant : 00B225Constraint-Based Haptic Rendering of Multirate Compliant Mechanisms.
Auteurs : I. Peterlik ; M. Nouicer ; C. Duriez ; S. Cotin ; A. KheddarSource :
- IEEE transactions on haptics [ 1939-1412 ]
English descriptors
- mix :
Abstract
The paper is dedicated to haptic rendering of complex physics-based environment in the context of surgical simulation. A new unified formalism for modeling the mechanical interactions between medical devices and anatomical structures and for computing accurately the haptic force feedback is presented. The approach deals with the mechanical interactions using appropriate force and/or motion transmission models named compliant mechanisms. These mechanisms are formulated as a constraint-based problem that is solved in two separate threads running at different frequencies. The first thread processes the whole simulation including the soft-tissue deformations, whereas the second one only deals with computer haptics. This method builds a bridge between the so-called virtual mechanisms (that were proposed for haptic rendering of rigid bodies) and intermediate representations (used for rendering of complex simulations). With this approach, it is possible to describe the specific behavior of various medical devices while relying on a unified method for solving the mechanical interactions between deformable objects and haptic rendering. The technique is demonstrated in interactive simulation of flexible needle insertion through soft anatomical structures with force feedback.
Url:
DOI: 10.1109/TOH.2011.41
PubMed: 26963485
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pubmed:26963485Le document en format XML
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34090 Montpellier</addrLine><country key="FR"></country></address><ref type="url">http://www.umontpellier.fr/</ref></desc></org></tutelle><tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author></analytic><idno type="DOI">10.1109/TOH.2011.41</idno><series><title level="j">IEEE Transactions on Haptics (ToH)</title><idno type="ISSN">1939-1412</idno><imprint><date type="datePub">2011-06</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Haptic rendering</term><term>compliance</term><term>contact modeling</term><term>deformable</term><term>heterogeneous constraints</term><term>intermediate representation</term><term>laparoscopic simulation</term><term>multirate</term><term>multithread</term><term>needle simulation</term><term>physically-based simulation</term><term>virtual mechanisms</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">The paper is dedicated to haptic rendering of complex physics-based environment in the context of surgical simulation. A new unified formalism for modeling the mechanical interactions between medical devices and anatomical structures and for computing accurately the haptic force feedback is presented. The approach deals with the mechanical interactions using appropriate force and/or motion transmission models named compliant mechanisms. These mechanisms are formulated as a constraint-based problem that is solved in two separate threads running at different frequencies. The first thread processes the whole simulation including the soft-tissue deformations, whereas the second one only deals with computer haptics. This method builds a bridge between the so-called virtual mechanisms (that were proposed for haptic rendering of rigid bodies) and intermediate representations (used for rendering of complex simulations). With this approach, it is possible to describe the specific behavior of various medical devices while relying on a unified method for solving the mechanical interactions between deformable objects and haptic rendering. The technique is demonstrated in interactive simulation of flexible needle insertion through soft anatomical structures with force feedback.</div></front></TEI></HAL><PubMed><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Constraint-Based Haptic Rendering of Multirate Compliant Mechanisms.</title><author><name sortKey="Peterlik, I" sort="Peterlik, I" uniqKey="Peterlik I" first="I" last="Peterlik">I. Peterlik</name></author><author><name sortKey="Nouicer, M" sort="Nouicer, M" uniqKey="Nouicer M" first="M" last="Nouicer">M. Nouicer</name></author><author><name sortKey="Duriez, C" sort="Duriez, C" uniqKey="Duriez C" first="C" last="Duriez">C. Duriez</name></author><author><name sortKey="Cotin, S" sort="Cotin, S" uniqKey="Cotin S" first="S" last="Cotin">S. Cotin</name></author><author><name sortKey="Kheddar, A" sort="Kheddar, A" uniqKey="Kheddar A" first="A" last="Kheddar">A. Kheddar</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="????"><PubDate><MedlineDate>2011 May-Jun</MedlineDate></PubDate></date><idno type="doi">10.1109/TOH.2011.41</idno><idno type="RBID">pubmed:26963485</idno><idno type="pmid">26963485</idno><idno type="wicri:Area/PubMed/Corpus">000E78</idno><idno type="wicri:Area/PubMed/Curation">000E78</idno><idno type="wicri:Area/PubMed/Checkpoint">002430</idno><idno type="wicri:Area/Ncbi/Merge">004051</idno><idno type="wicri:Area/Ncbi/Curation">004051</idno><idno type="wicri:Area/Ncbi/Checkpoint">004051</idno><idno type="wicri:doubleKey">1939-1412::Peterlik I:constraint:based:haptic</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Constraint-Based Haptic Rendering of Multirate Compliant Mechanisms.</title><author><name sortKey="Peterlik, I" sort="Peterlik, I" uniqKey="Peterlik I" first="I" last="Peterlik">I. Peterlik</name></author><author><name sortKey="Nouicer, M" sort="Nouicer, M" uniqKey="Nouicer M" first="M" last="Nouicer">M. Nouicer</name></author><author><name sortKey="Duriez, C" sort="Duriez, C" uniqKey="Duriez C" first="C" last="Duriez">C. Duriez</name></author><author><name sortKey="Cotin, S" sort="Cotin, S" uniqKey="Cotin S" first="S" last="Cotin">S. Cotin</name></author><author><name sortKey="Kheddar, A" sort="Kheddar, A" uniqKey="Kheddar A" first="A" last="Kheddar">A. Kheddar</name></author></analytic><series><title level="j">IEEE transactions on haptics</title><idno type="ISSN">1939-1412</idno></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">The paper is dedicated to haptic rendering of complex physics-based environment in the context of surgical simulation. A new unified formalism for modeling the mechanical interactions between medical devices and anatomical structures and for computing accurately the haptic force feedback is presented. The approach deals with the mechanical interactions using appropriate force and/or motion transmission models named compliant mechanisms. These mechanisms are formulated as a constraint-based problem that is solved in two separate threads running at different frequencies. The first thread processes the whole simulation including the soft-tissue deformations, whereas the second one only deals with computer haptics. This method builds a bridge between the so-called virtual mechanisms (that were proposed for haptic rendering of rigid bodies) and intermediate representations (used for rendering of complex simulations). With this approach, it is possible to describe the specific behavior of various medical devices while relying on a unified method for solving the mechanical interactions between deformable objects and haptic rendering. The technique is demonstrated in interactive simulation of flexible needle insertion through soft anatomical structures with force feedback.</div></front></TEI></PubMed></double></record>Pour manipuler ce document sous Unix (Dilib)
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