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Title page
Abstract
Contents
I Introduction 11
1.1 Motivation 11
1.2 Contribution 12
1.3 Outline 13
II Background and Related Work 14
2.1 Deformable Modeling 14
2.1.1 Non-Physical Models 14
2.1.1.1 Free-form deformation (FFD) 15
2.1.2 Physical Models 17
2.1.2.1 Mass-spring model 17
2.2 Haptics 18
2.2.1 Haptic Rendering Methods 19
2.2.2 Haptic Rendering Applications 20
2.3 Surface Rendering and Volume Rendering 21
III Method 25
3.1 Virtual Liver Object 27
3.2 Dual Deformable Model 30
3.2.1 Graphic Model (Deformablel Model) 32
3.2.2 Haptic Model 33
3.2.3 Behavior of Dual Deformable Model 35
IV Implementation 40
4.1 Graphic Rendering 40
4.2 Haptic Rendering 41
4.2.1 OpenHaptics Toolkit 41
V Result and Discussion 44
5.1 Result and Discussion 44
5.2 Future Work 47
VI Conclusion 50
국문요약 51
References 53
Acknowledgements 58
Figure 2.1 A ball on the deformable object 14
Figure 2.2 Deforming an object by using FFD with 3x3x3 CPs, initial object (left) and deformed object by a top CP (right) 15
Figure 2.3 Free-form deformations 16
Figure 2.4 Deforming the mobster's arm by using FFD with lattices of arbitrary topology 16
Figure 2.5 2D mesh for mass-spring model 17
Figure 2.6 The equation of Mass-spring model 18
Figure 2.7 Reflected force of S-chain model 19
Figure 2.8 Surface rendering and volume rendering 21
Figure 2.9 The Rendering Decision Tree for a model of the brain, (top) rendering images of the brain model (bottom) 22
Figure 2.10 The connection method of hybrid elastic model (left), the hybrid liver model seen in wireframe (right) 23
Figure 2.11 Modeling a deformable 2D body 24
Figure 3.1 Differences between sense of vision and sense of touch 25
Figure 3.2 Two models for one object 26
Figure 3.3 The Visible Human Project dataset 27
Figure 3.4 Features of the MR, CT, anatomical, and segmented images of VKH dataset 28
Figure 3.5 The anatomical images of the VKH dataset 28
Figure 3.6 A segmented images of the VKH dataset 29
Figure 3.7 Virtual liver data-acquisition and utilizing 29
Figure 3.8 Architecture of dual deformable model 30
Figure 3.9 The example of dual deformable model 31
Figure 3.10 The generation of the liver's mesh 32
Figure 3.11 Application of Mass-spring model to the surface data generated from the VKH dataset 33
Figure 3.12 The application of S-chain model to the liver's volume data 34
Figure 3.13 Setting of the stiff material 35
Figure 3.14 Contact point (origin of axis) and contact area (points around contact point) 36
Figure 3.15 Corresponding contact point 36
Figure 3.16 Role of lookup table 37
Figure 3.17 Reflected forces of stiff portion 37
Figure 3.18 Internal information from volume model 38
Figure 3.19 Normalized contact area forces and reflected shape 38
Figure 3.20 Flowchart of the interaction between graphic model and haptic model 39
Figure 4.1 Updating the Open GL application with MFC 40
Figure 4.2 The OpenHaptics toolkit 42
Figure 4.3 Implementation of haptic rendering with OpenHaptics toolkit 42
Figure 5.1 (a) graphic model with surface data, (b) haptic model with volume data, (c) both model 44
Figure 5.2 Stiffness values setting (a) in setting, (b) applied result 45
Figure 5.3 (a) normal material, (b) (c) stiff material, (d) wire-frame view of stiff material 45
Figure 5.4 Comparison between Mass-spring model, S-chain model, and Dual model I 46
Figure 5.5 Comparison between Mass-spring model, S-chain model, and Dual model II 47
Figure 5.6 S-chain model with non-homogeneous material (left), S-chain model with constraints (right) 48
Figure 5.7 Difference between force vecter of Mass-spring model (green) and that of S-chain model (magenta) 48
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