Collision detection and modeling of rigid and deformable objects in laparoscopic simulator

Mary-Clare Dy; Kazuyoshi Tagawa; Hiromi T. Tanaka; Masaru Komori

doi:10.1117/12.2081344

18 March 2015 Collision detection and modeling of rigid and deformable objects in laparoscopic simulator

Mary-Clare Dy, Kazuyoshi Tagawa, Hiromi T. Tanaka, Masaru Komori

Author Affiliations +

Proceedings Volume 9415, Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling; 941525 (2015) https://doi.org/10.1117/12.2081344
Event: SPIE Medical Imaging, 2015, Orlando, Florida, United States

Abstract

Laparoscopic simulators are viable alternatives for surgical training and rehearsal. Haptic devices can also be incorporated with virtual reality simulators to provide additional cues to the users. However, to provide realistic feedback, the haptic device must be updated by 1kHz. On the other hand, realistic visual cues, that is, the collision detection and deformation between interacting objects must be rendered at least 30 fps. Our current laparoscopic simulator detects the collision between a point on the tool tip, and on the organ surfaces, in which haptic devices are attached on actual tool tips for realistic tool manipulation. The triangular-mesh organ model is rendered using a mass spring deformation model, or finite element method-based models. In this paper, we investigated multi-point-based collision detection on the rigid tool rods. Based on the preliminary results, we propose a method to improve the collision detection scheme, and speed up the organ deformation reaction. We discuss our proposal for an efficient method to compute simultaneous multiple collision between rigid (laparoscopic tools) and deformable (organs) objects, and perform the subsequent collision response, with haptic feedback, in real-time.

Citation Download Citation

Mary-Clare Dy, Kazuyoshi Tagawa, Hiromi T. Tanaka, and Masaru Komori "Collision detection and modeling of rigid and deformable objects in laparoscopic simulator", Proc. SPIE 9415, Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling, 941525 (18 March 2015); https://doi.org/10.1117/12.2081344

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