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Erschienen in:
2010 | OriginalPaper | Buchkapitel
High Fidelity Haptic Rendering for Deformable Objects Undergoing Topology Changes
verfasst von : Hoeryong Jung, Stephane Cotin, Christian Duriez, Jeremie Allard, Doo Yong Lee
Erschienen in: Haptics: Generating and Perceiving Tangible Sensations
Verlag: Springer Berlin Heidelberg
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The relevance of haptic feedback for minimally invasive surgery has been demonstrated at numerous counts. However, the proposed methods often prove inadequate to handle correct contact computation during the complex interactions or topological changes that can be found in surgical interventions. In this paper, we introduce an approach that allows for accurate computation of contact forces even in the presence of topological changes due to the simulation of soft tissue cutting. We illustrate this approach with a simulation of cataract surgery, a typical example of microsurgery.