Takahiro Kumano

Intermediate representation for stiff virtual objects

A method of intermediate space for controlling haptic interfaces is characterized by updating a virtual plane at a low frequency while maintaining a high update rate at force control loop of the interface. By using the virtual plane, the detection of collisions between the tip of finger and virtual objects became independent from the control of the haptic interface. This will enable the haptic interface to display more and more complex surfaces in keeping the same sampling frequency of impedance control. It was revealed by the experiments with a haptic interface SPICE that an operator could touch and trace smoothly on a curved surface of stiff virtual object, even if the update rate of the virtual plane is relatively low.

Simulator for virtual surgery using deformable organ models and force feedback system.

This paper describes a real-time surgery planning system using virtual reality techniques. This system allows us to simulate incision of skin and organs which respond as elastic objects with surgical tools in virtual space. Inner structures such as blood vessels and lesions can be seen and manipulated in the simulation. In addition to these functions we attempted to add a feedback function that responds to the operators hands. We developed a force feedback device to manipulate the elastic organ model based on pressure from the operators fingers.

Virtual Surgery System Using Deformable Organ Models and Force Feedback Systems with Three Fingers

We aimed to develop a virtual surgery system capable of performing surgical maneuvers on elastic organs, the structure of which has been obtained from a patient. We tried to manipulate three dimensional (3D) organs as elastic models by hand or surgical tools in real time in a virtual environment. And we tried to obtain the sense of touch by using force feedback device with manipulator attached to the thumb, forefinger and middle finger of the operator.

Virtual surgery simulator with force feedback function

The authors developed a surgery planning system using virtual reality techniques which allows them to simulate incision of skin and organs which respond as elastic objects with surgical tools in virtual space. The authors also attempted to add a feedback function that responds to the pressure of the operators hand using a force feedback device.