Haptic herniorrhaphy simulation with robust and fast collision detection algorithm.

  • Shen Y
  • Devarajan V
  • Eberhart R
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Collision detection and soft tissue deformation are two major research challenges in real time VR based simulation, especially when haptic feedback is required. We have developed a real time collision detection algorithm for a prototype laparoscopic surgery trainer. However, this algorithm makes no assumptions about its applications and thus can be a generic solution to complicated collision detection problems. For soft tissue modeling, we use the mass-spring model enhanced with volume constraint and, stability control methods. We use both the new collision detection and tissue modeling algorithms in a bimanual hernia repair simulator which performs a mesh prosthesis stapling operation in real time.

Author-supplied keywords

  • Algorithms
  • Computer Simulation
  • Hernia, Inguinal
  • Hernia, Inguinal: surgery
  • Touch
  • User-Computer Interface

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  • SCOPUS: 2-s2.0-23844521711
  • ISSN: 0926-9630
  • PMID: 15718778
  • SGR: 23844521711
  • PUI: 368804934
  • ISBN: 1586034987


  • Yunhe Shen

  • Venkat Devarajan

  • Robert Eberhart

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