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This paper presents a new haptic rendering method for streaming point cloud data. It provides haptic rendering of moving physical objects using data obtained from RGB-D cameras. Thus, real-time haptic interaction with moving objects can be achieved using noncontact sensors. This method extends "virtual coupling"-based proxy methods in a way that does not(More)
This paper proposes a novel algorithm for haptic rendering from time varying point clouds captured using an Xbox Kinect RGB-D camera. Existing methods for point-based haptic rendering using a proxy can not directly be applied in this situation since no information about the underlying objects is given. This paper extends the notion of proxy to point clouds.(More)
—The use of haptic virtual fixtures is a potential tool to improve the safety of robotic and telerobotic surgery. They can " push back " on the surgeon to prevent unintended surgical tool movements into protected zones. Previous work has suggested generating virtual fixtures from preoperative images like CT scans. However these are difficult to establish(More)
Current DBS therapy delivers a train of electrical pulses at set stimulation parameters. This open-loop design is effective for movement disorders, but therapy may be further optimized by a closed loop design. The technology to record biosignals has outpaced our understanding of their relationship to the clinical state of the whole person. Neuronal(More)
This paper presents a constraint-based method for haptic interaction between an arbitrary voxelized polygon tool and a streaming point cloud derived from a depth sensor. Using the presented method, a user can interact with both dynamic as well as static point cloud representations of real objects captured in real-time. Every depth image frame is filtered(More)
This paper investigates automation of soft tissue compression for robot-assisted surgery. This is a fundamental task in surgery and includes interaction with a variety of tissues with unknown properties. In addition, due to sterilization and size constraints the use of contact force and position sensors are often avoided in surgical applications. We propose(More)