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Simulated interactive needle insertion

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2 Author(s)
DiMaio, S.P. ; Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada ; Salcudean, S.E.

A novel interactive virtual needle insertion simulation is presented. The simulation models are based on planar tissue deformations and forces measured during needle insertion experiments. Users are able to control a three degree-of-freedom virtual needle as it penetrates a linear elastostatic tissue model, while experiencing steering torques and lateral needle forces through a planar haptic interface. Efficient numerical computation techniques permit fast simulation of relatively complex two-dimensional and three-dimensional environments at haptic control rates

Published in:

Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002. HAPTICS 2002. Proceedings. 10th Symposium on

Date of Conference:

2002

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