BACKGROUND With the decrease in the number of cerebral aneurysms treated surgically and the increase of complexity of those treated surgically, there is a need for simulation-based tools to teach future neurosurgeons the operative techniques of aneurysm clipping. OBJECTIVE To develop and evaluate the usefulness of a new haptic-based virtual reality simulator in the training of neurosurgical r...

—While the animation and rendering techniques used in the domain of textile simulation have dramatically evolved during the last two decades, the ability to manipulate and modify virtual textiles intuitively using dedicated ergonomic devices has been definitely neglected. The project HAPTEX combines research in the field of textile simulation and haptic interfaces. HAPTEX aims to provide a virt...

We present a general framework for the dynamic simulation and haptic exploration of complex virtual environments. This work builds on previous developments in simulation, haptics, and operational space control. The relations between the dynamic models used in simulation and the models originally developed for robotic control are also presented. This framework has been used to develop a simulato...

This paper presents a quantitative study of the effects of maximum capable force magnitude of a haptic interface on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross-section ridges, in addition to corner detection tests. Test results indicate that performance, measured as a p...

Simulating interactive behavior of objects such as soft tissues in surgical simulation or in control engine of VR applications has been extensively studied. Adding haptic information such as vibration, tactile array, force feedback simulation enhances the sense of presence in virtual environments. Recreating the realistic contact forces the user would perceive when interacting the virtual objec...

In surgery simulation, precise contact modeling is essential to obtain both realistic behavior and convincing haptic feedback. When instruments create deformations on soft tissues, they modify the boundary conditions of the models and will mainly modify their behavior. Yet, most recent work has focused on the more precise modeling of soft tissues while improving efficiency; but this effort is r...

A high performance six degree-of-freedom magnetic levitation haptic interface device has been integrated with a physically-based dynamic rigid-body simulation to enable realistic user interaction in real time with a 3-D dynamic virtual environment. The user grasps the levitated handle of the device to manipulate a virtual tool in the simulated environment and feels its force and motion response...

This paper proposes a new method for real-time rigid body simulations for haptic interactions based on a penalty method regarding contact volume. Analytical methods for calculation of contact forces require too much time to maintain fast update rates for haptic controls. In addition, they prohibit direct connection of haptic interfaces. Penalty methods, which employ spring-damper models for cal...

This paper describes a simulation system for human extremities that uses haptic interaction in order to provide the user with an additional sensory channel of information for the presented data. The main focus lies on the haptic modeling of the human upper limb. The properties that can be explored haptically include kinesiologic parameters, physiologic attributes and tissue characteristics.

We present an efficient algorithm for haptic rendering of deformable bodies with highly detailed surface geometry using a fast contact handling algorithm. We exploit a layered deformable representation to augment the physically based deformation simulation with efficient collision detection, contact handling and interactive haptic force feedback.