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The real-time simulation of rope, and knot tying in particular, raises difficult issues in contact detection and management. Some practical knots can only be achieved by complicated crossings of the rope, yielding multiple simultaneous contacts, especially when the rope is pulled tight. This paper describes a graphical simulator that allows a user to grasp(More)
We describe the implementation details of a real-time surgical simulation system with soft-tissue modeling and multi-user, multi-instrument, networked haptics. The simulator is cross-platform and runs on various Unix and Windows platforms. It is written in C++ with OpenGL for graphics; GLUT, GLUI, and MUI for user interface; and supports parallel(More)
This paper presents algorithms for animating deformable objects in real-time. It focuses on computing the deformation of an object subject to external forces and detecting collisions among deformable and rigid objects. The targeted application domain is surgical training. This application relies more on visual realism than exact, patientspecific(More)
Today, there is growing interest in computer surgical simulation to enhance surgeons' training. This paper presents a simulation system based on novel algorithms for animating instruments interacting with deformable tissue in real-time. The focus is on computing the deformation of a tissue subject to external forces, and detecting collisions among(More)
Computer systems for surgical planning and training are poised to greatly impact the traditional versions of these tasks. These systems provide an opportunity to learn surgical techniques with lower costs and lower risks. We have developed a virtual environment for the graphical visualization of complex surgical objects and real-time interaction with these(More)
This paper describes the design and pilot enactment of an instructional unit for elementary school students, <i>Hunger Games</i>, which centers on development of learner understandings of animal foraging behavior. Inspired by traditional teaching practices employing physical simulations, within the unit students engage in an embodied enactment of foraging(More)
We report a computerized endoscopic surgical grasper with computer control and a force feedback (haptic) user interface. The system uses standard unmodified grasper shafts and tips. The device can control grasping forces either by direct surgeon control, via teleoperation, or under software control. In this paper, we test an automated palpation function in(More)
A significant proportion of patients with severe intra-abdominal sepsis are managed by leaving the peritoneal cavity open in an attempt to control the infective process, regardless of aetiology. However, a considerable number of these patients develop enterocutaneous fistulae, which compound the clinical situation and delay closure of the peritoneal cavity.(More)
is when per capita production and consumption grow. This may occur when more hours are spent working; but more important, for the long-term, is new technology, which leads to higher rates of extraction and/or more effi cient use of resources. For most nations, economic growth refl ects a concurrent increase in population and per capita production and(More)