Paper Colocated Haptics for USG

Co-Located haptic interaction for Virtual USG exploration

Ruffaldi Emanuele, Brizzi Filippo, Filippeschi Alessandro & Avizzano Carlo Alberto
Scuola Superiore Sant’Anna, Pisa, Italy

IEEE EMBC 2015

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Abstract

Ultrasonography is a widespread diagnostic technique that can take advantage of virtual reality for the purpose of training and rehearsal. The placement, orientation and body interaction of the probe is fundamental for the execution of the exploration. This paper introduces a virtual reality setup that employs visuo-haptic feedback for virtual ultrasonography. The haptic feedback is provided by desktop delta-like haptic interface with a 3D printed ultrasonography probe, and features haptic point-cloud rendering with implicit surface rendering. The visual feedback is provided by a Head Mounted Display that displays the virtual body, the probe and the operator’s hand while not in contact with the probe. The system provides a co-located experience by means of precise calibration of the reference system allowing to synchronize the display of the hand and the probe with the location of the corresponding physical entities.

Citation

Ruffaldi Emanuele, Brizzi Filippo, Filippeschi Alessandro & Avizzano Carlo Alberto (2015). Co-Located haptic interaction for Virtual USG exploration. In Proceedings of IEEE EMBC (pp. 1548-1551) doi: 10.1109/EMBC.2015.7318667

@inproceedings{ruffaldiusg15,
author = {Ruffaldi ,Emanuele and Brizzi, Filippo and Filippeschi ,Alessandro and Avizzano ,Carlo Alberto},
booktitle = {Proceedings of IEEE EMBC},
doi = {10.1109/EMBC.2015.7318667},
pages = {1548–1551},
title = {Co-Located haptic interaction for Virtual USG exploration},
year = {2015}
}

Technologies

  • Hardware: custom Haptic interface 3DoF, Oculus Rift DK1
  • Software: implicit surface haptic rendering, Compact Components Mixed Reality Framework (CoCoMR)

Paper

PDF (4.5MB)

Video

MP4

Presentation

PDF (11MB)

Acknowledgments

This activity has been funded by the EU FP7 Project ReMeDi.