3D haptic needle insertion simulator utilising an agent based spherical voxel model

This paper describes a technique for the real-time modeling of deformable tissue. Specifically geared towards needle insertion simulation, the low computational requirements of the model enable highly accurate haptic feedback to a user without introducing noticeable time delay or buzzing generally associated with haptic surgery simulation. Using a spherical voxel array combined with aspects of computational geometry and agent communication and interaction principals, the model is capable of providing haptic update rates of over 1000Hz with real-time visual feedback. Iterating through over 1000 voxels per millisecond to determine collision and haptic response while making use of Vieta’s Theorem for extraneous force culling.

Haptically simulating soft tissue using spherical voxel and reactive agents

This thesis describes technology developed by the author enabling trainee surgeons to perform needle insertion procedures with force feedback (haptics) on a virtual patient. Addition of the sense of touch to medical simulation is arguably the most important step forward in the evolution of haptic technology to this day.