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Catheter insertion simulation with co-registered direct volume rendering and haptic feedback

Antonio Zorcolo, Enrico Gobbetti, Gianluigi Zanetti, and Massimiliano Tuveri

January 2000

Abstract

We have developed an experimental catheter insertion simulation system supporting head-tracked stereoscopic viewing of volumetric anatomic reconstructions registered with direct haptic 3D interaction. The system takes as input data acquired with standard medical imaging modalities and regards it as a visual and haptic environment whose parameters are interactively defined using look-up tables. The system's display, positioned like a surgical table, provide a realistic impression of looking down at the patient. Measuring head motion via a six degrees-of-freedom head tracker, good positions to observe the anatomy and identify the catheter insertion point are quickly established with simple head motion. By generating appropriate stereoscopic images and co-registering physical and virtual spaces beforehand, volumes appear at fixed physical positions and it is possible to control catheter insertion via direct interaction with a PHANToM haptic device. During the insertion procedure, the system provides perception of the effort of penetration and deviation inside the traversed tissues. Semi-transparent volumetric rendering augments the sensory feedback with the visual indication of the inserted catheter position inside the body.

Reference and download information

Antonio Zorcolo, Enrico Gobbetti, Gianluigi Zanetti, and Massimiliano Tuveri. Catheter insertion simulation with co-registered direct volume rendering and haptic feedback. In J. D. Westwood, H. M. Hoffman, G. T. Mogel, R. A. Robb, and D. Stredney, editors, Medicine Meets Virtual Reality 2000 - Envisioning Healing: Interactive Technology and the Patient-Practioner Dialogue. Pages 96-98, IOS, Amsterdam, The Netherlands, January 2000.

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Bibtex citation record

@InCollection{Zorcolo:2000:CIS,
    author = {Antonio Zorcolo and Enrico Gobbetti and Gianluigi Zanetti and Massimiliano Tuveri},
    editor = {J. D. Westwood and H. M. Hoffman and G. T. Mogel and R. A. Robb and D. Stredney},
    title = {Catheter insertion simulation with co-registered direct volume rendering and haptic feedback},
    booktitle = {Medicine Meets Virtual Reality 2000 -- Envisioning Healing: Interactive Technology and the Patient-Practioner Dialogue},
    pages = {96--98},
    publisher = {IOS},
    address = {Amsterdam, The Netherlands},
    month = {January},
    year = {2000},
    isbn = {1-58603-014-0},
    abstract = { We have developed an experimental catheter insertion simulation system supporting head-tracked stereoscopic viewing of volumetric anatomic reconstructions registered with direct haptic {3D} interaction. The system takes as input data acquired with standard medical imaging modalities and regards it as a visual and haptic environment whose parameters are interactively defined using look-up tables. The system's display, positioned like a surgical table, provide a realistic impression of looking down at the patient. Measuring head motion via a six degrees-of-freedom head tracker, good positions to observe the anatomy and identify the catheter insertion point are quickly established with simple head motion. By generating appropriate stereoscopic images and co-registering physical and virtual spaces beforehand, volumes appear at fixed physical positions and it is possible to control catheter insertion via direct interaction with a PHANToM haptic device. During the insertion procedure, the system provides perception of the effort of penetration and deviation inside the traversed tissues. Semi-transparent volumetric rendering augments the sensory feedback with the visual indication of the inserted catheter position inside the body.},
    url = {http://vic.crs4.it/vic/cgi-bin/bib-page.cgi?id='Zorcolo:2000:CIS'},
}