In this paper we propose a novel control algorithm for the SmartMesh [1] based on clothes simulation modelled with masses and springs. The SmartMesh is modelled as a tissue or as a blanket, which is attracted by the object that has to be represented, enveloping it. Applying the sampled data (the lengths of the springs) to the actuators of the SmartMesh will result in a deformation of the struct...

Haptics is a recent enhancement to virtual environments allowing users to “touch” and feel the simulated objects they interact with. Current commercial products allow tactile feedback through desktop interfaces (such as the FEELIt mouse or the PHANToM arm) and dextrous tactile and force feedback at the fingertips through haptic gloves (such as the CyberTouch and the CyberGrasp). Haptics VR ...

This paper presents a framework that enables an operator to haptically and visually interact with a simulated dynamic environment subject to virtual holonomic constraints. The framework combines a geometric constraint solver with a constrained dynamics simulation engine that controls an admittance-type haptic display. This system takes on relevant issues in the context of assisted teleoperated ...

This paper discusses the application of virtual reality technology in the 3-D visible human body and acupuncture research. Based on the 3-D visible human fused with the localization information and hierarchy of acupoints, the paper analyzes the force against the needle and haptic rendering during the needle manipulation according to the physical properties of different tissues. A haptic model i...

Advanced display technologies have made the virtual exploration of relatively complex models feasible in many applications. Unfortunately, only a few human interfaces allow natural interaction with the environment. Moreover, in surgical applications, such realistic interaction requires real-time rendering of volumetric data-placing an overwhelming performance burden on the system. We report on ...

Through an interdisciplinary design process we have created a haptic simulator to mimic the physical and sensory environment surrounding the performance of spinal anaesthesia. Our simulator utilises existing haptic toolkits to reproduce tissues and surfaces in a realistic way. It simulates needle insertion with audio and visual (2D/3D) feedback occurring during the actual procedure. The overall...

Telerobotic systems are revolutionizing minimally invasive surgery (MIS), giving the surgeon complete control over precise dexterous movements of tiny robotic instruments. Such 'surgery-by-wire' approaches also create unique opportunities for simulation and training, as the surgeon operates at a computer-mediated haptic console. Possible extensions include offline training in simulated environm...

The opportunities for veterinary students to practice feline abdominal palpation are limited as cats have a low tolerance to being examined. Therefore, a mixed reality simulator was developed to complement clinical training. Two PHANToM premium haptic devices were positioned either side of a modified toy cat. Virtual models of the chest and some abdominal contents were superimposed on the physi...

In this paper we present a new method for real-time interactive haptic and graphic rendering of complex objects locally deformed by multiple contacts. Core algorithms have been designed to be executable also on videoboard’s GPU, thus taking advantage of parallel matrix and vector computational power. Although complex physical simulation has been simplified to run on GPUs, results are characteri...

In this paper, telesurgery and surgical simulation are introduced as parallel research problems of haptic interfacing to real and virtual surgical environments. The analytical tools of systems and control theory and robotics are used to address several research problems in these areas. The discussion on telesurgery is centered around the UC Berkeley/UC San Francisco Laparoscopic Telesurgical Wo...