TY - GEN
T1 - Six-degree-of-freedom haptic simulation of organ deformation in dental operations
AU - Wang, Dangxiao
AU - Liu, Shuai
AU - Zhang, Xin
AU - Zhang, Yuru
AU - Xiao, Jing
PY - 2012
Y1 - 2012
N2 - Six-degree-of-freedom (6-DOF) haptic rendering is challenging when multi-region contacts occur between the graphic avatar of a haptic tool operated by a human user, which we call the graphic tool, and deformable objects. In this paper, we introduce a novel approach for deformation modeling based on a spring-sphere tree representation of deformable objects and a configuration-based constrained optimization method for determining the 6-dimensional configuration of the graphic tool and the contact force/torque response to the tool. This method conducts collision detection, deformation computation, and tool configuration optimization very efficiently based on the spring-sphere tree model, avoids inter-penetration, and maintains stability of haptic display without using virtual coupling. Experiments on typical dental operations are carried out to validate the efficiency and stability of the proposed method. The update rate of the haptic simulation loop is maintained at ∼1kHz.
AB - Six-degree-of-freedom (6-DOF) haptic rendering is challenging when multi-region contacts occur between the graphic avatar of a haptic tool operated by a human user, which we call the graphic tool, and deformable objects. In this paper, we introduce a novel approach for deformation modeling based on a spring-sphere tree representation of deformable objects and a configuration-based constrained optimization method for determining the 6-dimensional configuration of the graphic tool and the contact force/torque response to the tool. This method conducts collision detection, deformation computation, and tool configuration optimization very efficiently based on the spring-sphere tree model, avoids inter-penetration, and maintains stability of haptic display without using virtual coupling. Experiments on typical dental operations are carried out to validate the efficiency and stability of the proposed method. The update rate of the haptic simulation loop is maintained at ∼1kHz.
KW - 6-DOF haptic rendering
KW - configuration-based optimization
KW - multi-region contacts
KW - organ deformation
KW - spring-sphere tree
UR - https://www.scopus.com/pages/publications/84864454881
U2 - 10.1109/ICRA.2012.6224701
DO - 10.1109/ICRA.2012.6224701
M3 - 会议稿件
AN - SCOPUS:84864454881
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1050
EP - 1056
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -