Research And Implementation Of Haptics For Virtual Surgery

With the development of virtual reality and human interaction, virtual surgery has been developed. There are a lot of benefits about virtual surgery. The benefits include the ability to broaden surgical training by easily providing different training scenarios, including anatomical variations (gender, size), pathologies (diseases, trauma), and operating environment conditions (emergency room, microgravity, battlefield). In addition to these benefits, the ability to objectively quantify surgical performance and perhaps simulate the result of an intervention has been cited as a major benefit and drawn the attention of surgical societies as a future means of precertification. Besides these benefits, the potential to accelerate the acquisition of baseline surgical skills through the use of computer-based simulation has also been identified. Perhaps the most important feature of all is that computer-based simulation can realize all these benefits without risk to any real patients.Our surgical simulation system with soft-tissue modeling is written in C++ with OpenGL for graphics; MFC and GLUT for user interface; and supports parallel processing. It allows for the relatively easy introduction of patient-specific anatomy and support many common file formats. Many virtual tools have been created using Maya and their interactions with tissue have been implemented. Our haptics device is Phantom omni.We do research about the point haptics in virtual surgery. Because VR and HI have been developed recently, the virtual surgery has been developed a lot. And there are a lot of applications about the point haptics for example cutting and probing. So we mainly do research in this aspect. The interaction in the virtual surgery mainly includes interaction of rigid objects and deformable objects. Because the virtual surgery requires a lots about the real time, so the speed is the important issue. In the rigid objects interaction we used the God-Object method which we optimized. And for the deformable object the Spring-Mass model with hierarchy is used. When the deformability is caused, the haptics spreads from the haptics point to the mass points which they are linked. In this way it can decease the times of the computation. In our application we used the cube grid, and we presume that the spring has the same coefficient.