title: FEM-based interaction model between elastic objects for indirect palpation simulator.
abstract: Indirect palpation is required to examine lots of cases like breast cancer and prostate malignance. This paper proposes interaction model between elastic objects to simulate indirect palpation. The interaction is simulated by displacement of colliding elements based on normal stress derived from temporary displacement. The physics-based approach represents the difference of physical properties such as stiffness of colliding objects. Deformation and haptic reproduction is possible to be carried out in real time with two organ models consisting of roughly 200 nodal points. As an example, we developed a rectal palpation simulator based on the proposed method. The experiment using rectal palpation simulator confirmed that the method enables a user to perceive difference of stiffness of prostate model located behind rectum model indirectly.
authors.affiliation: Graduate School of Informatics, Kyoto University, Japan.
authors.forename: Yoshihiro
authors.initials: Y
authors.lastname: Kuroda
authors.forename: Megumi
authors.initials: M
authors.lastname: Nakao
authors.forename: Tomohiro
authors.initials: T
authors.lastname: Kuroda
authors.forename: Hiroshi
authors.initials: H
authors.lastname: Oyama
authors.forename: Masaru
authors.initials: M
authors.lastname: Komori
authors.forename: Tetsuya
authors.initials: T
authors.lastname: Matsuda
mesh_terms: D003198:Computer Simulation; D006801:Humans; D007564:Japan; D008297:Male; D010173:Palpation / Q000379:methods*; D011467:Prostate; D012007:Rectum; D014584:User-Computer Interface