Deformable force feedback model constructed from magnetic resonance images for haptic interaction

A virtual environment in which organs can be touched to provide an extra level of perception is studied. Images obtained from MRI scans have been segmented for 3D prostate reconstruction, which are then manipulated using a haptic device. The work is aimed at the development of a force feedback model to provide a realistic sense of touch through a single point of interaction. The force feedback model is derived from elasticity theory and expressed using a spherical harmonic representation. The proposed spherical harmonic expansion can also be used for collision detection, hence ultimately providing a framework for a more generalized haptic model in which closed surfaces, such as organs, are manipulated. A point-wise relationship of the force feedback and corresponding implementation is provided to illustrate the behaviour and adequacy of the proposed approach