Real-time haptic rendering of volumetric data during shape changes변형되는 볼륨 데이터의 실시간 햅틱 렌더링

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Virtual reality-based applications for medical training mimic physical phenomena which occur in deforming, cutting and bleeding with soft tissue, as well as milling with hard tissue. Real-time interaction plays an important role in these applications to acquire enhancements of medical skills and dexterity. Therefore, both visual and haptic cues should be properly provided not only to convey deliberate intention of the operators but also to improve their visual-spatial skills. Considering surgery simulation with real-time interaction, the topological changes of physical representation is one of inevitable components. This paper investigates a haptic rendering algorithm with shape changes in interactive virtual environments. While we primarily focus on asymmetric contact model such as Voxmap-PointShell, and its improved method using a distance field, some of the presented approaches could be transferable to haptic rendering algorithms with volumetric data. To be specific, the focus of our development is on collision model update and contact resolution engaged in topological changes. We contributes to efficient and stable contact resolution for haptic-enabled virtual environments with topological changes by employing pointless full octree as well as a normal estimation method based on adaptive sampling of a local distance map. The results of real-time tooth probing and cutting simulations support the benefits of our approach.
Advisors
Park, Jinahresearcher박진아researcher
Description
한국과학기술원 :전산학부,
Publisher
한국과학기술원
Issue Date
2016
Identifier
325007
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 전산학부, 2016.8 ,[iv, 49 p. :]

Keywords

Haptic rendering; collision model; volumetric data; distance map; dental simulator; 햅틱 렌더링; 충돌 모델; 볼륨 데이터; 디스턴스 맵; 치과 시뮬레이터

URI
http://hdl.handle.net/10203/222398
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=663198&flag=dissertation
Appears in Collection
CS-Theses_Ph.D.(박사논문)
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