Haptic volume interaction with anatomic models at sub-voxel resolution

In this paper, a new approach for haptic volume interaction with high resolution voxel-based anatomic models is presented. The haptic rendering is based on a multi-point collision detection approach which provides realistic tool interaction with the models. Both haptics and graphics are rendered at sub-voxel resolution, which leads to a high level of detail and enables the exploration of the models at any scale. Forces are calculated at an update rate of 6000 Hz and sent to a 3-Degree-of-Freedont (3-DOF)force-feedback device. Compared to point-based haptic rendering, the unique approach of the multi-point collision detection in combination with sub-voxel rendering provides more realistic and very detailed haptic sensations. As a main application, a simulator for petrous bone surgery was developed. With a simulated drill, bony structure can be removed and the access path to the middle ear can be studied.