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Real-time Physically-Based Deformation Modeling

The real time physically-based deformation modeling is of a paramount interest mainly for the design and implementation of surgical simulations. Here, accurate and realistic behavior is necessary for the model to be suitable for the surgical training. On the other hand, the model must be rendered inside the haptic loop running at high refresh loop (above 1 kHz) to ensure the stability of the interaction.


In paper presented at WorldHaptics conference, I proposed a novel approach to haptic deformation modeling based on the precomputation of configuration spaces. The approach was previously introduced for haptic rendering of biomolecules. My research in this area is presented and summarized in my PhD thesis supervised by prof. Luděk Matyska. The main contribution of the thesis was following:
  • Proposal of technique based on off-line precomputation and approximation allowing for real-time haptic interaction with non-linear models of soft tissue.
  • Proposal of an extension to the precomputation technique allowing for on-line construction of the data needed for the approximation.
  • Design of new distributed algorithms for both off-line and on-line construction of data using message-passing interface.
  • Proposal of improvement concerning the approximation procedure based on three different techniques of interpolation and proposal of extrapolation mode in case the data are not available for the interpolation.
  • Specification and analysis of simulation parameters determining the response forces observed during the interaction with soft tissue.
  • Convergence analysis of geometrically and/or physically non-linear models of soft tissue w.r.t. large number of deformations.

Two screenshots of the application developed in cooperation with Mert Sedef at Robotics and Mechatronics Laboratory, Koc University, Istanbul:

Two short movies of the interaction are available here: [AVI1], [AVI2]
Three short movies capturing the window of the application showing various types of the deformations (the active node is displaced by the PHANToM haptic device):
compression [AVI], tension [AVI] and mixed [AVI].


The work was published in following papers:
  1. I. Peterlík, M. Sedef, C. Basdogan and L. Matyska. Real-time visio-haptic interaction with static soft tissue models having geometric and material nonlinearity. Computers & Graphics, Elsevier, 34(1), pp. 43–54, 2010. [PDF]
  2. I. Peterlík and J. Filipovič. Distributed Construction of Configuration Spaces for Real-Time Haptic Deformation Modeling. To appear in IEEE Transactions on Industrial Electronics, 8 pages.
  3. I. Peterlík, L. Matyska and J. Filipovič. Haptic Interaction with Complex Models Based on Precomputations. In Advances in Haptics. Book Chapter. IN-TECH, 2010, 24 pages [URL]
  4. I. Peterlík. Efficient precomputation of configuration space for haptic deformation modeling. In Proceedings of Conference on Human System Interactions, pp. 225–230, IEEE Xplore, 2008. best paper award. [PDF]
  5. I. Peterlík and L. Matyska. Haptic interaction with soft tissues based on state-space approximation. In EuroHaptics ’08: Proceedings of the 6th international conference on Haptics, (Berlin, Heidelberg), pp. 886–895, Springer-Verlag, 2008. [PDF]
  6.  I. Peterlík and L. Matyska. An algorithm of state-space precomputation allowing non-linear haptic deformation modeling using finite element method,” in WHC’07: Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, (Washington, DC, USA), pp. 231–236, IEEE Computer Society, 2007. [PDF]
  7. J. Filipovič, I. Peterlík and L. Matyska.  On-line precomputation algorithm for real-time haptic interaction with non-linear deformable bodies, in Proceedings of The Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, pp.24-29, 2009 [PDF]