Skip to main content
SpringerLink
Log in

Toward the development of interactive virtual dissection with haptic feedback

  • Original Article
  • Published:
Virtual Reality Aims and scope Submit manuscript

Abstract

Traditional, hands-on dissection of an animal is common practice in many classrooms to aid in the study of anatomy and biology. More specifically, virtual dissection environments have been developed making it possible to study the inner workings of animals without cutting them up. In this paper, we present a novel virtual reality dissection simulator, where a user can dissect an animal (i.e. frog) and its organs using a 3D force feedback haptic device. The simulator uses force feedback as part of a multimodal cue to provide guidance and performance feedback to the user. This paper highlights methodologies which are used for addressing some of the key challenges involved in designing and developing simulators, such as: modelling and mechanics of deformation, collision detection between multiple deformable bodies, and haptic feedback.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
Fig. 18
Fig. 19
Fig. 20
Fig. 21
Fig. 22
Fig. 23
Fig. 24
Fig. 25
Fig. 26
Fig. 27
Fig. 28
Fig. 29
Fig. 30
Fig. 31
Fig. 32
Fig. 33
Fig. 34
Fig. 35
Fig. 36
Fig. 37
Fig. 38

Similar content being viewed by others

References

  • Basdogan C, Srinivasan M (2001) Haptic rendering in virtual environments. In: Stanney K (ed) Virtual environments handbook, Erlbaum, Mahwah, NJ, pp 117–134

  • Basdogan C, De S, Kim J, Manivannan M, Kim H, Srinivasan MA (2004) Haptics in minimally invasive surgical simulation and training. IEEE Comput Graph Appl 24(2):56–64

    Article  Google Scholar 

  • Brown J, Sorkin S, Bruyns C, Latombe JC, Montgomery K, Stephanides M (2001) Real-time simulation of deformable objects: tools and application. Computer animation 2001, Seoul, Korea, November 7–8

  • Burden RL, Faires JD (2000) Numerical analysis. Brooks-Cole

  • Cover S, Norberto FE, Obrien JF, Rowe R, Gadau T, Palm E (1993) Interactively deformable models for surgery simulation. In: Proceedings of ICRA, pp 68–75

  • Crossan A, Brewster S, Reid S et al (2001) A horse ovary palpation simulator for veterinary training. In: Haptic human-computer interaction, pp 157–164

  • Doo D, Sabin M (1978) Behaviour of recursive division surfaces near extraordinary points. Comput Aided Des 10:356–360

    Article  Google Scholar 

  • France L, Lenoir J, Angelidis A, Meseure P, Cani MP, Faure F, Chaillou C (2005) A layered model of a virtual human intestine for surgery simulation. Med Image Anal 9:123–132

    Article  Google Scholar 

  • Georgii J, Westermann R (2006) A multigrid framework for real-time simulation of deformable bodies. Comput Graph 30(3):409–416

    Article  Google Scholar 

  • Gibson S (1997) A survey of deformable modeling in computer graphics. Technical report no. TR-97-19, Mitsubishi Electric Research Laboratory, Cambridge MA

  • Laugier C, Mendoza C, Sundaraj K (2003) Towards a realistic medical simulator using virtual environments and haptic interaction. Robotics Research, volume 6 of Springer Tracts in Advanced Robotics (STAR)

  • Lawlor OS, Kale LV (2002) A voxel-based parallel collision detection algorithm. In: Proceedings of the 16th international conference on Supercomputing, 22–26 June, pp 285–293

  • Lin M, Gottschalk S (1999) Collision detection between geometric models: a survey. In: Proceedings of IMA conference on mathematics of surfaces, pp 37–56

  • Lundin K, Cooper M, Ynnerman A (2007) Enabling design and interactive selection of haptic modes. Virtual Real J 11(1):1–13

    Article  Google Scholar 

  • Mendoza C, Sundaraj K, Laugier C (2003) Faithfull haptic feedback in medical simulators. Robotics Research, volume 5 of Springer Tracts in Advanced Robotics (STAR)

  • Montgomery K, Bruyns C, Wildermuth S (2001) A virtual environment for simulated rat dissection: a case study of visualization for astronaut training. Vis 2001, San Diego, California

  • Palmerius KL, Cooper M, Ynnerman A (2008) Haptic rendering of dynamic volumetric data, visualization and computer graphics. IEEE Transactions 14(2):263–276

    Google Scholar 

  • Pauly M, Pai D, Guibas L (2004) Quasi-rigid objects in contact, Eurographics/ACM SIGGRAPH symposium on computer animation

  • Payandeh S, Azouz N (2001) Finite elements, mass-spring-damper systems and haptic rendering. In: Proceedings of IEEE international symposium on computational intelligence in robotics and automation, pp 224–230

  • Picinbono G, Lombardo J (1999) Extrapolation: a solution to force feedback. In: International scientific workshop on virtual reality and prototyping, Laval, France, pp 117–125

  • Segerlind L (1976) Applied finite element analysis. Wiley, New Jersey

    MATH  Google Scholar 

  • Sundaraj K (2004) Real-time dynamic simulation and 3D interaction of biological tissue: application to medical simulators. PhD. Thesis, Institut National Polytechnique de Grenoble

  • Suzuki S, Suzuki N, Hattori A, Uchiyama A, Kobayashi S (2004) Sphere-filled organ model for virtual surgery system. IEEE Transactions Med Imaging 23(6):714

    Article  Google Scholar 

  • Teschner M, Kimmerle S, Heidelberger B (2005) Collision detection for deformable objects. Comput Graphics Forum 24(1):61–81

    Article  Google Scholar 

  • Tong C, Song A, Juan W (2007) A mass-spring model for haptic display of flexible object global deformation. In: Proceedings of ICMA 2007

  • Van Den Bergen G (1997) Efficient collision detection of complex deformable models using AABB trees. J Graphics Tools 2(4):1–14

    MATH  Google Scholar 

  • Zhang H, Payandeh S, Dill J (2004) On cutting and dissection of virtual deformable objects. In: Proceedings of IEEE international conference on robotics and automation, pp 3908–3913

  • Zhang J, Payandeh S, Dill J (2005) A study of level-of-detail in haptic rendering. ACM Trans Appl Percept 2(1):15–34

    Article  Google Scholar 

  • Zhennan Y, Lixu G, Huang P (2007) Soft tissue deformation simulation in virtual surgery using nonlinear finite element method. In: Proceedings of the 29th annual international conference of the IEEE EMBS

  • Zhou M, Claffee K, Lee K, McMurray G (2006a) Cutting, ‘by pressing and slicing’, applied to the robotic cut of bio-materials, Part I: modeling of stress distribution. In: Proceedings ICRA06, pp 2896–2901

  • Zhou M, Claffee K, Lee K, McMurray G (2006b) Cutting, ‘by pressing and slicing’, applied to the robotic cut of bio-materials, Part II: force during slicing and pressing cuts. In: Proceedings of ICRA06, pp 2256–2261

Download references

Author information

Authors and Affiliations

  1. Experimental Robotics and Graphics Laboratory, Simon Fraser University, Burnaby, BC, Canada

    Nasim Melony Vafai & Shahram Payandeh

Authors
  1. Nasim Melony Vafai
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Shahram Payandeh
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Nasim Melony Vafai.

Appendix A: Questionnaire from user study

Appendix A: Questionnaire from user study

1.1 Opinion questionnaire

Now that you have completed the experiment, we would like to ask you a few questions about what you experienced. In the questions below asking for a selection on a range of 1 to 5, circle one number where 1 is poor and 5 is excellent.

figure a

Rights and permissions

Reprints and permissions

About this article

Cite this article

Vafai, N.M., Payandeh, S. Toward the development of interactive virtual dissection with haptic feedback. Virtual Reality 14, 85–103 (2010). https://doi.org/10.1007/s10055-009-0132-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10055-009-0132-3

Keywords

Search

Navigation