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Realistic Haptic Feedback for Material Removal in Medical Simulations

: Kaluschke, M.; Weller, R.; Hammer, N.; Pelliccia, L.; Lorenz, M.; Zachmann, G.


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Computer Society:
IEEE Haptics Symposium, HAPTICS 2020 : 28-31 March 2020, Crystal City, VA, USA, Online
Piscataway, NJ: IEEE, 2020
ISBN: 978-1-7281-0234-4 (Print)
ISBN: 978-1-7281-0235-1 (Online)
Haptics Symposium (HAPTICS) <26, 2020, Online>
Conference Paper
Fraunhofer IWU ()

We present a novel haptic rendering method to simulate material removal in medical simulations at haptic rates. The core of our method is a new massively-parallel continuous collision detection algorithm in combination with a stable and flexible 6-DOF collision response scheme that combines penalty-and constraint-based force computation. Moreover, a volumetric object representation of the 3D objects allows us to derive a realistic local material model from experimental human cadaveric data, as well as support real-time continuous material removal. We have applied our algorithm to a hip replacement simulator and two dentistry-related simulations for root-canal opening and caries removal. The results show realistic continuous forces and torques at haptic rates.