Overview Overview � Visual displays Visual displays Visual and tactile displays Visual and tactile displays � � Tactile displays Tactile displays � � Integrated displays Integrated displays � Alan Liu Alan Liu � Applications in medical simulation Applications in medical simulation � aliu@simcen.usuhs.mil aliu@simcen.usuhs.mil Surgical Simulation Laboratory Surgical Simulation Laboratory National Capital Area Medical Simulation Center National Capital Area Medical Simulation Center Uniformed Services University Uniformed Services University http://simcen.usuhs.mil/mmvr2002 http://simcen.usuhs.mil/mmvr2002 A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 Color monitors Color monitors Stereoscopic Display Stereoscopic Display � CRT/LCD monitors CRT/LCD monitors � Depth perception occurs when each eye sees a slightly Depth perception occurs when each eye sees a slightly � � different image of the same object. different image of the same object. � Cheap, readily Cheap, readily � � The brain fuses the separate images into a 3 The brain fuses the separate images into a 3- -dimensional dimensional � available, well available, well representation representation understood technology understood technology � Often sufficient in Often sufficient in � simulators simulators – – with minimal visual with minimal visual requirements requirements – Minimally invasive Minimally invasive – procedures procedures A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 Stereoscopic flat panel display Stereoscopic flat panel display Stereoscopic eyewear Stereoscopic eyewear (Dimension Technologies) (Dimension Technologies) � Monitor alternately Monitor alternately � displays left/right image displays left/right image � Display synchronized with Display synchronized with � LCD shutter glasses LCD shutter glasses � CrystalEyes CrystalEyes � – Wireless, requires emitter Wireless, requires emitter – for synchronization, cost: for synchronization, cost: about $700 for eyewear, about $700 for eyewear, $300 for emitter $300 for emitter � Vrex visualizer Vrex visualizer � – Wired, cost: about $30 Wired, cost: about $30 – retail, does not require retail, does not require emitter, works with emitter, works with any any PC PC video display www.dti3d.com video display – http://www.vrex.com http://www.vrex.com – A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 1
Stereoscopic flat panel display Stereoscopic flat panel display Head mounted display Head mounted display � No eyewear required No eyewear required � CRT/LCD displays are worn on CRT/LCD displays are worn on � � the head the head � Perception of stereo Perception of stereo � � Immersive display of a virtual Immersive display of a virtual effect is dependent on � effect is dependent on environment environment user’s location user’s location – Real – Real- -time tracking of head time tracking of head – – Easy to get left/right Easy to get left/right movements movements images crossed images crossed – Harder to get used to Harder to get used to – � Augmented display of real Augmented display of real- - � compared to compared to world environment world environment monitor/stereo eyewear monitor/stereo eyewear –Need to align virtual and real – Need to align virtual and real- - world environments www.dti3d.com world environments A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 CAVE: Cave Automatic Virtual Environment CAVE: Cave Automatic Virtual Environment Retinal scanning display Retinal scanning display [CRUZ- -NEIRA93] NEIRA93] [CRUZ [JOHNSTON95] [JOHNSTON95] � Research by U. of Research by U. of www.mvis.com � Stereo projectors display Stereo projectors display � � Washington HITLab Washington HITLab 3D images on each wall 3D images on each wall � Developed by Microvision Developed by Microvision � – Viewer(s) are immersed in – Viewer(s) are immersed in www-vrl.umich.edu/mrt � Coherent (laser) light Coherent (laser) light 3D virtual environment 3D virtual environment � scanned directly on retina scanned directly on retina – Head movement can be – Head movement can be tracked tracked – 800x600 (typical) – 800x600 (typical) – – High contrast, daylight High contrast, daylight � Developed at Univ. of Developed at Univ. of � readable readable Illinois at Chicago Illinois at Chicago – – Monochrome/color displays Monochrome/color displays � Commercially available Commercially available � � Applications Applications � � Applications Applications � – Mobile medical wireless – Mobile medical wireless display (TATRC) display (TATRC) – – Medical readiness trainer Medical readiness trainer – Image guided surgery Image guided surgery – www.mvis.com A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 Elumens VisionStation 800 Elumens VisionStation 800 Haptic displays Haptic displays � Immersive 3D space Immersive 3D space � � Low cost: $10,000 Low cost: $10,000 � � Elumens Corporation: Elumens Corporation: � hemispherical 3D hemispherical 3D visualization systems visualization systems � Other products: Other products: � VisionDome VisionDome � Potential applications Potential applications � – Triage simulation Triage simulation – http://www.elumens.com/ A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 2
Definitions Why Use Force Feedback? Definitions Why Use Force Feedback? � Tactile (touch) feedback: sensed by Tactile (touch) feedback: sensed by � receptors close to the skin (high bandwidth) receptors close to the skin (high bandwidth) � Force feedback: sensed by receptors placed Force feedback: sensed by receptors placed � deeper in the body (low bandwidth) deeper in the body (low bandwidth) � Haptic feedback: technically same as tactile Haptic feedback: technically same as tactile � feedback, but often extended to include both feedback, but often extended to include both tactile and force feedback as in haptics tactile and force feedback as in haptics Source: Force and Touch Feedback For Virtual Reality, Burdea Source: Force and Touch Feedback For Virtual Reality, Burdea � � A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 Virtual Laparoscopic Interface/ Virtual Laparoscopic Interface/ Phantom Phantom Laparoscopic Impulse Engine Laparoscopic Impulse Engine (Sensable Technologies) (Sensable Technologies) (Immersion) (Immersion) � Sensors report movement Sensors report movement � www.immersion.com in 6 degrees of freedom in 6 degrees of freedom � Interface device for Interface device for � (dof) (dof) simulated laparoscopic simulated laparoscopic � 3 dof force feedback 3 dof force feedback � procedures procedures � Force feedback loop must Force feedback loop must � � Haptic and non Haptic and non- -haptic haptic be updated rapidly (1kHz be updated rapidly (1kHz � refresh rate or better) version version refresh rate or better) www.sensable.com � Widely used for in Widely used for in � surgical simulation surgical simulation research research A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 Haptic Catheter/Needle Insertion Haptic Catheter/Needle Insertion Endoscopy Simulator Endoscopy Simulator Simulator Simulator � Flexible scope Flexible scope- -like like � interface interface � Computer generated Computer generated � imagery of anatomical imagery of anatomical structures structures � Different procedures Different procedures � can be simulated can be simulated – Bronchoscopy Bronchoscopy – – Endoscopy – Endoscopy A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 A Tutorial on Surgical Simulation: Past, Present, and Future – MMVR 2002 3
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