research-article

Volume Haptics with Topology-Consistent Isosurfaces

Authors:

Miguel A. Otaduy,

Marcos GarciaAuthors Info & Claims

IEEE Transactions on Haptics, Volume 8, Issue 4

Pages 480 - 491

https://doi.org/10.1109/TOH.2015.2466239

Published: 01 October 2015 Publication History

Abstract

Haptic interfaces offer an intuitive way to interact with and manipulate 3D datasets, and may simplify the interpretation of visual information. This work proposes an algorithm to provide haptic feedback directly from volumetric datasets, as an aid to regular visualization. The haptic rendering algorithm lets users perceive isosurfaces in volumetric datasets, and it relies on several design features that ensure a robust and efficient rendering. A marching tetrahedra approach enables the dynamic extraction of a piecewise linear continuous isosurface. Robustness is achieved using a continuous collision detection step coupled with state-of-the-art proxy-based rendering methods over the extracted isosurface. The introduced marching tetrahedra approach guarantees that the extracted isosurface will match the topology of an equivalent isosurface computed using trilinear interpolation. The proposed haptic rendering algorithm improves the consistency between haptic and visual cues computing a second proxy on the isosurface displayed on screen. Our experiments demonstrate the improvements on the isosurface extraction stage as well as the robustness and the efficiency of the complete algorithm.

References

[1]

A. Amruta, A. Gole, and Y. Karunakar, “A systematic algorithm for 3-D reconstruction of MRI based brain tumors using morphological operators and bicubic interpolation,” in Proc. IEEE 2nd Int. Conf. Comput. Technol. Develop., 2010, pp. 305–309.

[2]

D. Heeraman, J. Hopmans, and V. Clausnitzer, “Three dimensional imaging of plant roots in situ with X-ray computed tomography,” Plant Soil , vol. 189, no. 2, pp. 167–179, 1997.

[3]

M. Ikits, J. Brederson, C. D. Hansen, and C. R. Johnson, “A constraint-based technique for haptic volume exploration,” in Proc. IEEE Vis. Conf., 2003, pp. 263–269.

[4]

E. Vidholm and I. Nystrom, “A haptic interaction technique for volume images based on gradient diffusion,” in Proc. IEEE 1st Joint Eurohaptics Conf. Symp. Haptic Interfaces Virtual Environ. Teleoperator Syst. , 2005, pp. 336–341.

Digital Library

[5]

D. A. Lawrence, L. Pao, C. Lee, and R. Y. Novoselov, “Synergistic visual/haptic rendering modes for scientific visualization,” IEEE Comput. Graph. Appl., vol. 24, no. 6, pp. 22–30, Nov. 2004.

Digital Library

[6]

T. R. Coles, D. Meglan, and N. John, “The role of haptics in medical training simulators: A survey of the state of the art,” IEEE Trans. Haptics, vol. 4, no. 1, pp. 51–66, Jan./Feb. 2011.

Digital Library

[7]

K. Lundin and G. Baravdish, “Higher precision in volume haptics through subdivision of proxy movements,” in Proc. 6th Int. Conf. Haptics: Perception, Devices Scenarios, 2008, vol. 5024, pp. 694–699.

[8]

K. Salisbury, D. Brock, T. Massie, N. Swarup, and C. B. Zilles, “Haptic rendering: Programming touch interaction with virtual objects,” in Proc. ACM Symp. Interactive 3D Graphics, 1995, pp. 123–130.

[9]

A. Lopes and K. Brodlie, “Improving the robustness and accuracy of the marching cubes algorithm for isosurfacing,” IEEE Trans. Vis. Comput. Graph., vol. 9, no. 1, pp. 16–29, Jan.–Mar. 2003.

Digital Library

[10]

S. Stegmaier, M. Strengert, T. Klein, and T. Ertl, “A simple and flexible volume rendering framework for graphics-hardware-based raycasting,” in Proc. IEEE 4th Int. Workshop Volume Graph., 2005, pp. 187–241.

[11]

L. Corenthy, J. San Martin, M. A. Otaduy, and M. Garcia, “Volume haptic rendering with dynamically extracted isosurface,” in Proc. IEEE Haptics Symp., 2012, pp. 133–139.

[12]

H. Iwata and H. Noma, “Volume haptization,” in Proc. IEEE Symp. Res. Frontiers Virtual Reality, 1993, pp. 16–23.

[13]

D. A. Lawrence, C. D. Lee, R. Y. Novoselov, and L. Y. Pao, “Shock and vortex visualization using a combined visual/haptic interface,” in Proc. IEEE Conf. Vis. , 2000, pp. 131–137.

[14]

R. S. Avila and L. M. Sobierajski, “A haptic interaction method for volume visualization,” in Proc. 7th IEEE Vis. Conf., 1996, vol. VI, pp. 197– 204.

[15]

O. Körner, M. Schill, C. Wagner, H. Bender, and R. Männer, “Haptic volume rendering with an intermediate local representation,” in Proc. 1st Int. Workshop Haptic Devices Med. Appl., 1999, pp. 79–84.

[16]

W. E. Lorensen and H. E. Cline, “Marching cubes: A high resolution 3D surface construction algorithm,” ACM Siggraph Comput. Graph., vol. 21, no. 4, pp. 163 –169, 1987.

Digital Library

[17]

Y. Zhou, W. Chen, and Z. Tang, “An elaborate ambiguity detection method for constructing isosurfaces within tetrahedral meshes,” Elsevier Comput. Graph., vol. 19, no. 3, pp. 355– 364, 1995.

[18]

R. Strand and P. Stelldinger, “Topology preserving marching cubes-like algorithms on the face-centered cubic grid,” in Proc. IEEE 14th Int. Conf. Image Anal. Process., 2007, pp. 781–788.

Digital Library

[19]

J. H. Ryu, H. S. Byun, and K. H. Lee, “ High-quality isosurface generation using an oversampling method,” Springer. Int. J. Adv. Manufacturing Technol., vol. 28, no. 11–12, pp. 1161 –1168, 2006.

[20]

G. M. Nielson and B. Hamann, “The asymptotic decider: resolving the ambiguity in marching cubes,” in Proc. 2nd IEEE Conf. Vis., 1991, pp. 83–91.

[21]

B. K. Natarajan, “On generating topologically consistent isosurfaces from uniform samples,” Vis. Comput., vol. 11, no. 1, pp. 52–62, 1994.

Digital Library

[22]

E. V. Chernyaev, “Marching cubes 33: Construction of topologically correct isosurfaces,” CERN, Meyrin, Switzerland, Tech. Rep., 1995.

[23]

A. Guéziec and R. Hummel, “Exploiting triangulated surface extraction using tetrahedral decomposition,” IEEE Trans. Vis. Comput. Graph., vol. 1, no. 2, pp. 328–342, Dec. 1995.

Digital Library

[24]

G. M. Treece, R. W. Prager, and A. H. Gee, “Regularised marching tetrahedra: Improved iso-surface extraction,” Comput. Graph., vol. 23, pp. 583–598, 1998.

[25]

J. Georgii and R. Westermann, “A generic and scalable pipeline for GPU tetrahedral grid rendering,” IEEE Trans. Vis. Comput. Graph., vol. 12, no. 5, pp. 1345 –1352, Sep./Oct. 2006.

Digital Library

[26]

B.-S. Sohn, “Topology preserving tetrahedral decomposition applied to trilinear interval volume tetrahedrization,” KSII Trans. Internet Inf. Syst., vol. 3, no. 6, pp. 350–357, 2009.

[27]

M. Eriksson, M. Dixon, and J. Wikander, “A haptic VR milling surgery simulator-using high-resolution ct-data,” IOS Press Stud. Health Technol. Inf., vol. 119, p. 138, 2005.

[28]

S. Chan, N. H. Blevins, and K. Salisbury, “ Deformable haptic rendering for volumetric medical image data,” in Proc. IEEE World Haptics Conf., 2013, pp. 73–78.

[29]

M. Audette, I. Hertel, O. Burgert, and G. Strauss, “A tissue relevance and meshing method for computing patient-specific anatomical models in endoscopic sinus surgery simulation,” in Advances in Computational Vision and Medical Image Processing. New York, NY, USA : Springer, 2009, pp. 159–172.

[30]

K. Lundin, A. Ynnerman, and B. Gudmundsson, “ Proxy-based haptic feedback from volumetric density data,” in Proc. IEEE Eurohaptic Conf. , 2002, pp. 104–109.

[31]

K. Lundin, M. Cooper, and A. Ynnerman, “The orthogonal constraints problem with the constraint approach to proxy-based volume haptics and a solution,” in Proc. SIGRAD Conf., 2005, vol. 1, pp. 45–49.

[32]

B. Ménélas, M. Ammi, and P. Bourdot, “ A flexible method for haptic rendering of isosurface from volumetric data,” in Proc. 6th Int. Conf. Haptics: Perception, Devices Scenarios, 2008, vol. 5024, pp. 687–693.

[33]

T. Knott and T. Kuhlen, “Geometrically limited constraints for physics-based haptic rendering,” in Proc. 9th Int. Conf. Haptics: Neurosci., Devices, Model., Appl., 2014, vol. 8619, pp. 343–351.

[34]

R. Vlasov, K.-I. Friese, and F.-E. Wolter, “Haptic rendering of volume data with collision detection guarantee using path finding,” in Transactions on Computational Science XVIII, vol. 7848. New York, NY, USA : Springer, 2013, pp. 212–231.

[35]

K. Salisbury and C. Tarr, “Haptic rendering of surfaces defined by implicit functions,” ASME Dynamic Syst. Control Division, vol. 61, pp. 61–67, 1997.

[36]

L. Kim, G. S. Sukhatme, and M. Desbrun, “An implicit-based haptic rendering technique,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2002, pp. 2943–2948.

[37]

S. Chan and E. Purisima, “A new tetrahedral tesselation scheme for isosurface generation,” Elsevier Comput. Graph., vol. 22, no. 1, pp. 83–90, 1998.

[38]

J. Patera and V. Skala, “Centered cubic lattice method comparison,” in Proc. Slovak Univ. Technol. Conf. Algoritmy, 2005, pp. 309–318.

[39]

D. C. Ruspini, K. Kolarov, and O. Khatib, “The haptic display of complex graphical environments,” in Proc. 24th ACM Annu. Conf. Comput. Graphics Interactive Techn., 1997, pp. 345–352.

Digital Library

[40]

C. Wang and T. S. Newman, “New metric for evaluating the accuracy of marching isosurfacing algorithms,” in Proc. ACM Southeast Regional Conf., 2014, p. 22.

[41]

L. Corenthy, M. Garcia, S. Bayona, A. Santuy, J. S. Martin, R. Benavides-piccione, J. Defelipe, and L. Pastor, “Haptically assisted connection procedure for the reconstruction of dendritic spines,” IEEE Trans. Haptics , vol. 7, no. 4, pp. 486–498, Oct.–Dec. 2014.

Cited By

Vlachos CMoustakas K(2024)High–Fidelity Haptic Rendering Through Implicit Neural Force RepresentationHaptics: Understanding Touch; Technology and Systems; Applications and Interaction10.1007/978-3-031-70058-3_40(493-506)Online publication date: 30-Jun-2024
https://dl.acm.org/doi/10.1007/978-3-031-70058-3_40

Index Terms

Volume Haptics with Topology-Consistent Isosurfaces
1. Mathematics of computing

Index terms have been assigned to the content through auto-classification.

Recommendations

Delaunay meshing of isosurfaces

We present an isosurface meshing algorithm, DelIso, based on the Delaunay refinement paradigm. This paradigm has been successfully applied to mesh a variety of domains with guarantees for topology, geometry, mesh gradedness, and triangle shape. A ...
Volume Refinement Fairing Isosurfaces
VIS '04: Proceedings of the conference on Visualization '04

We propose an interpolating refinement method for two- and three-dimensional scalar fields defined on hexahedral grids. Iterative fairing of the underlying contours (isosurfaces) provides the function values of new grid points. Our method can be ...
Delaunay Meshing of Isosurfaces
SMI '07: Proceedings of the IEEE International Conference on Shape Modeling and Applications 2007

We present an isosurface meshing algorithm, DELISO, based on the Delaunay refinement paradigm. This paradigm has been successfully applied to mesh a variety of domains with guarantees for topology, geometry, mesh gradedness, and triangle shape. A ...

Comments

Information & Contributors

Information

Published In

cover image IEEE Transactions on Haptics

IEEE Transactions on Haptics Volume 8, Issue 4

Oct.-Dec. 2015

154 pages

ISSN:1939-1412

Issue’s Table of Contents

Copyright © 2015.

Publisher

IEEE Computer Society Press

Washington, DC, United States

Publication History

Published: 01 October 2015

Qualifiers

Research-article

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

1
Total Citations
View Citations
0
Total Downloads

Downloads (Last 12 months)0
Downloads (Last 6 weeks)0

Reflects downloads up to 10 Nov 2024

Other Metrics

View Author Metrics

Citations

Cited By

Vlachos CMoustakas K(2024)High–Fidelity Haptic Rendering Through Implicit Neural Force RepresentationHaptics: Understanding Touch; Technology and Systems; Applications and Interaction10.1007/978-3-031-70058-3_40(493-506)Online publication date: 30-Jun-2024
https://dl.acm.org/doi/10.1007/978-3-031-70058-3_40

View Options

View options

Get Access

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

Media

Figures

Other

Tables

View Issue’s Table of Contents