The
hand-immersive workstation generates a virtual environment suitable for training
dexterous manipulation. It is well suited for developing simulations of surgical
procedure. The system consists of a Windows-based PC with a hardware accelerated
graphics board. The rendered stereo image is viewed via a mirror situated horizontally
below and in front of the monitor. The monitor and mirror configuration places
the virtual image within the workspace of an attached Phantom haptic interface
device by Sensable Technologies. The Phantom
is set-up in such a way that the arm extends underneath the viewing mirror.
The Phantom's stylus moves in three-space with the same orientation and position
as the simulated instrument it represents in the virtual image being viewed.
This preserves the hand eye axis of the operator. Through the Phantom, the user
receives tactile feedback on the particular task being performed.
|
|
|
|
|
|
|
|
|
