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A multimodal training platform for minimally invasive robotic surgery

Rainer Konietschke, Andreas Tobergte, Carsten Preusche, Paolo Tripicchio, Emanuele Ruffaldi, Sabine Webel, Ulrich Bockholt
2010 19th International Symposium in Robot and Human Interactive Communication  
The training platform shares the same surgical operator workstation as MiroSurge and simulates the behaviour of the telemanipulator arms and the surgical instruments.  ...  However instead of the real telemanipulator itself, a virtual environment with abstracted tasks is connected to the operator workstation.  ...  virtual reality simulation (see Fig. 2 ).  ... 
doi:10.1109/roman.2010.5598608 dblp:conf/ro-man/KonietschkeTPTRWB10 fatcat:mbu6ebazibbm5o6nlkd6qpnq6q

Using Game Engines for Visuo-Haptic Learning Simulations

David Escobar-Castillejos, Julieta Noguez, Roberto A. Cárdenas-Ovando, Luis Neri, Andres Gonzalez-Nucamendi, Víctor Robledo-Rella
2020 Applied Sciences  
A common way to develop a visuo-haptic simulation in the area of interactive systems is by using a graphic and physics-based engine orchestrated with a haptic rendering framework.  ...  In this paper, a novel architecture for fast development of interactive visuo-haptic applications in game engines is discussed.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app10134553 fatcat:ntbyq6s7mnc5zmq2lndh6hdsdq

Real-Time Numerical Simulation for Accurate Soft Tissues Modeling during Haptic Interaction

Paolo Tripicchio, Salvatore D'Avella, Emanuele Ruffaldi
2022 Actuators  
This work introduces a haptic system for the evaluation of the fabric hand of specific garments either existing or yet to be produced in a virtual reality simulation.  ...  Results exhibit the feasibility of high-frequency real-time simulation for haptic interaction with virtual garments employing realistic mechanical properties of the fabric materials.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/act11010017 fatcat:5d7sdi3ru5df7gosagied2vi3u

Modelling and simulation of flexible instruments for minimally invasive surgical training in virtual reality

Przemyslaw Korzeniowski, Fernando Bello
2018
Interactive, computer based Virtual Reality (VR) simulators offer a safe, cost-effective, controllable and configurable training environment free from ethical and patient safety issues.  ...  The underlying mathematical model of flexible instruments in both simulator prototypes is based on an established theoretical framework – the Cosserat Theory of Elastic Rods.  ...  , 2013) . _________________________ Components of virtual reality surgical simulators COMPONENTS OF VIRTUAL REALITY SURGICAL SIMULATORS A VR surgical simulator typically consists of a haptic interface  ... 
doi:10.25560/58344 fatcat:tmcgvdbisjbuzlwq7kttm4dlc4

Natural hand interaction for augmented reality [article]

Thammathip Piumsomboon, University Of Canterbury
2015
Utilizing this deeper understanding and set of design guidelines, a gesture interface was developed that enabled hand tracking and gesture recognition based on depth sensing input.  ...  Despite the increasing prevalence of Augmented Reality (AR) interfaces, there is still a lack of interaction techniques that allow full utilization of the medium.  ...  (Nvidia PhysX, 2015).  ... 
doi:10.26021/1571 fatcat:vexdpzysr5ez7fne6intpwvgwu

Use of virtual reality to support nuclear decommissioning

Benjamin Nash, Trevor Chambers, Atomic Weapons Establishment Plc
2020
In this thesis, the use of simulation and VR to support the training of staff in the use of remote handling tools was studied.  ...  The research further shows that the skills developed are transferable between the real and virtual worlds. The research also shows that VR can be a powerful tool for the development of processes.  ...  The current plan of work by the NDA is set to last over 120 years [2] .  ... 
doi:10.25560/82473 fatcat:yhtfzqi3hfbvnlugx6frkr26qu

A Framework for Automatic Physics Model Generation and Real-time Simulation of Permanent Deformable Objects

Nan Wei
2021
A thesis submitted in total fulfilment of the requirements for the degree of Doctor of Philosophy to the School of Engineering and Mathematical Sciences, College of Science, Health and Engineering, La  ...  With higher computation power and new technology such as Virtual Reality (VR) and Augmented Reality (AR), such simulation is not just a computation tool for experts and scientists anymore.  ...  FEM is proved to be a useful tool by combining with the Augmented Reality (AR) to deliver realistic and reasonably accurate interaction between human and the virtual object.  ... 
doi:10.26181/60d178a81f4f7 fatcat:3weyows5ajbpdemmefetsevmsm

Topology-driven form-finding : interactive computational modelling of bending-active and textile hybrid structures through active-topology based real-time physics simulations, and its emerging design potentials [article]

Seiichi Suzuki, Universität Stuttgart, Universität Stuttgart
2020
Exploring those opportunities is a non-trivial task demanding to expand outside current geometric modeling paradigms and develop an insightful and methodological simulation-based design practice.  ...  , the main focus of this work is to develop a comprehensive approach for enabling topologic transformations with real-time physics named topology-driven form-finding that, during conceptual stages, can  ...  The prototype, built 8 Based on pre-published article: "Digital Vernacular Design: Form-Finding at the Edge of Realities".  ... 
doi:10.18419/opus-10865 fatcat:brmcpex5hrbvbaq7gc5ktgwp2m

Experience-driven optimal motion synthesis in complex and shared environments [article]

Wolfgang Xaver Merkt, University Of Edinburgh, University Of Edinburgh, Sethu Vijayakumar, Michael Mistry
2020
to new scenarios), and related, the type and granularity of user input, along with a strategy for recovery and feedback in case of unexpected changes or failure.  ...  Local optimisation techniques, in contrast, converge fast within the basin of attraction of a minimum but may not converge at all without a good initial guess as they can easily get stuck in local minima  ...  As a result, research has investigated guided teleoperation with on-the-fly synthesised constraints to provide assistance or resistance via force feedback-for instance, in surgical robotics via virtual  ... 
doi:10.7488/era/358 fatcat:j7xbw3o3sffd5cb54gvjvbh5q4