TRANSACTIONS ON VISUALIZATION AND COMPUTER GRAPHICS 1 Haptic Rendering of Dynamic Volumetric Data

Abstract—With current methods for volume haptics in sci-entific visualization, features in time-varying data can freely move straight through the haptic probe without generating any haptic feedback — the algorithms are simply not designed to handle variation with time but consider only the instantaneous configuration when the haptic feedback is calculated. This article introduces haptic rendering of dynamic volumetric data to provide a means for haptic exploration of dynamic behaviour in volumetric data. We show how haptic feedback can be produced that is consistent with volumetric data moving within the virtual environment and with data that, in itself, evolves over time. Haptic interaction with time-varying data is demonstrated by allowing palpation of a CT sequence of a beating human heart. Index Terms—direct volume haptics, time-varying data, chang-ing model transform, scientific visualization I