title: Haptic rendering of tissue cutting with scissors.
abstract: Current surgical simulations that involve cutting with scissors lack display of forces "between the fingers" of the operator. The objective of this work is to develop a fast, realistic haptic rendering technique for scissor cutting that can be easily integrated into soft tissue models commonly used in surgical simulators. A virtual environment was created for combined graphic and haptic display of cutting. Two 2-dimensional deformable mass-spring-damper models were developed: The first is a large mesh that is used to calculate translational forces. The second is a smaller, one-element-thick mesh that is used to calculate cutting (angular) forces. This technique was implemented on the haptic scissors, a haptic interface that allows motion and force feedback in translation and cutting.
authors.affiliation: Princeton University, Princeton, New Jersey 08544, USA.
authors.forename: David J
authors.initials: DJ
authors.lastname: Weiss
authors.forename: Allison M
authors.initials: AM
authors.lastname: Okamura
mesh_terms: D003196:Computer Graphics; D013514:Surgical Procedures, Operative / Q000193:education; D014481:United States; D014584:User-Computer Interface