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Constraint-Based Haptic Rendering of Multirate Compliant Mechanisms
July-September 2011 (vol. 4 no. 3)
pp. 175-187
ASCII Text
x 
 
Igor Peterlík, Mourad Nouicer, Christian Duriez, Stéphane Cotin, Abderrahmane Kheddar, "Constraint-Based Haptic Rendering of Multirate Compliant Mechanisms," IEEE Transactions on Haptics, vol. 4, no. 3, pp. 175-187, July-September, 2011.
 
 
BibTex
x
 
@article{ 10.1109/TOH.2011.41,
author = {Igor Peterlík and Mourad Nouicer and Christian Duriez and Stéphane Cotin and Abderrahmane Kheddar},
title = {Constraint-Based Haptic Rendering of Multirate Compliant Mechanisms},
journal ={IEEE Transactions on Haptics},
volume = {4},
number = {3},
issn = {1939-1412},
year = {2011},
pages = {175-187},
doi = {http://doi.ieeecomputersociety.org/10.1109/TOH.2011.41},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - JOUR
JO - IEEE Transactions on Haptics
TI - Constraint-Based Haptic Rendering of Multirate Compliant Mechanisms
IS - 3
SN - 1939-1412
SP175
EP187
EPD - 175-187
A1 - Igor Peterlík,
A1 - Mourad Nouicer,
A1 - Christian Duriez,
A1 - Stéphane Cotin,
A1 - Abderrahmane Kheddar,
PY - 2011
KW - Haptic rendering
KW - deformable
KW - heterogeneous constraints
KW - contact modeling
KW - physically-based simulation
KW - needle simulation
KW - laparoscopic simulation
KW - compliance
KW - multithread
KW - multirate
KW - virtual mechanisms
KW - intermediate representation.
VL - 4
JA - IEEE Transactions on Haptics
ER -
 
Igor Peterlík, INRIA Nord Europe, Lille
Mourad Nouicer, INI Algiers, Algeria
Christian Duriez, INRIA Nord Europe, Lille
Stéphane Cotin, INRIA Nord Europe, Lille
Abderrahmane Kheddar, CNRS-UM2 LIRMM, Montpellier and CNRS-AIST Joint Robotics Laboratory (JRL), Tsukuba
The paper is dedicated to haptic rendering of complex physics-based environment in the context of surgical simulation. A new unified formalism for modeling the mechanical interactions between medical devices and anatomical structures and for computing accurately the haptic force feedback is presented. The approach deals with the mechanical interactions using appropriate force and/or motion transmission models named compliant mechanisms. These mechanisms are formulated as a constraint-based problem that is solved in two separate threads running at different frequencies. The first thread processes the whole simulation including the soft-tissue deformations, whereas the second one only deals with computer haptics. This method builds a bridge between the so-called virtual mechanisms (that were proposed for haptic rendering of rigid bodies) and intermediate representations (used for rendering of complex simulations). With this approach, it is possible to describe the specific behavior of various medical devices while relying on a unified method for solving the mechanical interactions between deformable objects and haptic rendering. The technique is demonstrated in interactive simulation of flexible needle insertion through soft anatomical structures with force feedback.

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Index Terms:
Haptic rendering, deformable, heterogeneous constraints, contact modeling, physically-based simulation, needle simulation, laparoscopic simulation, compliance, multithread, multirate, virtual mechanisms, intermediate representation.
Citation:
Igor Peterlík, Mourad Nouicer, Christian Duriez, Stéphane Cotin, Abderrahmane Kheddar, "Constraint-Based Haptic Rendering of Multirate Compliant Mechanisms," IEEE Transactions on Haptics, vol. 4, no. 3, pp. 175-187, July-Sept. 2011, doi:10.1109/TOH.2011.41
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