Gallbladder Removal Simulation for Laparoscopic Surgery Training: A Hybrid Modeling Method

Kim, Young‐Jun; Chang, Dongjune; Kim, Jungsik; Park, Se Hyung

doi:10.1007/s11390-013-1351-3

Cited by 5 publications

(1 citation statement)

References 19 publications

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“…The main ingredients for effective haptic surface rendering 12 are a low inertia transparent device, a controller providing stable compliant motion and a realistic (nonlinear viscoelastic or viscoplastic) constitutive model. Although desperately needed, deployment of discrete models for multiple interacting fully deformable bodies based on finite element method (FEM), 13,14 boundary element method (BEM) 15,16 or hybrid 17 dynamic deformation model has not been very popular or successful due to various reasons: the deformation model is locally non-conservative and the results are questionable unless properly validated, model size and complexity are proportional with the success rate, solving large matrix equations are unavoidable and update rates are generally insufficient for displaying efficient haptic interactions.…”

Section: Introductionmentioning

confidence: 99%

Haptic exploration of highly curved compliant surfaces

Zafer

Yilmaz

2015

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, a constraint-based controller is developed for two-manifold oriented viscoelastic surfaces that guarantees smooth and compliant haptic rendering. The approach is direct and uses a pseudo-inverse projection of the haptic device end effector onto the virtual surface. The rendering algorithm enables the user to freely move a soft fingertip model along a highly curved deformable surface and perceive surface roughness in the normal direction by feeling a nonlinear contact force. The normal force is governed by a physically based three-dimensional constitutive model, which accounts for both geometric and material nonlinearities. In experimental implementation, the soft fingertip model acts as the compliant haptic interface (robot) and the user manually guides the manipulator to explore the deformable surface properties in real time. The (nonlinear) reaction force normal to the surface is applied at the soft fingertip edge of the fingertip bone (distal phalanx). The robustness of the approach is illustrated by experimental data in rendering highly curved compliant surfaces.

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