We propose a new approach for interaction in Virtual Reality (VR) using mobile robots as proxies for haptic feedback. This approach allows VR users to have the experience of sharing and manipulating tangible physical objects with remote collaborators. Because participants do not directly observe the robotic proxies, the mapping between them and the virtual objects is not required to be direct. In this paper, we describe our implementation, various scenarios for interaction, and a preliminary user study.
Haptic feedback has been mentioned frequently in VR training, especially in the medical field. The sense of touch is the earliest developed in human embryology and is believed to be essential for practice @cite_5 @cite_0 . Robot-assisted minimally invasive surgery (RMIS) holds great promise for improving the accuracy and dexterity of a surgeon @cite_13 . Haptic feedback has potential benefits not only in training, but in other interactions as well. Reality based interaction was proposed for post-WIMP interfaces @cite_4 . Tangible interactions are observable with both visual and haptic modalities that could help people utilize basic knowledge about the behavior of our physical world @cite_6 .
@cite_4 @cite_6 @cite_0 @cite_5 @cite_13
1997447598 2032933675 2031576182 2057244156 2009180946
We are in the midst of an explosion of emerging human-computer interaction techniques that redefine our understanding of both computers and interaction. We propose the notion of Reality-Based Interaction (RBI) as a unifying concept that ties together a large subset of these emerging interaction styles. Based on this concept of RBI, we provide a framework that can be used to understand, compare, and relate current paths of recent HCI research as well as to analyze specific interaction designs. We believe that viewing interaction through the lens of RBI provides insights for design and uncovers gaps or opportunities for future research. We identify and present a major interaction approach for tangible user interfaces based upon systems of tokens and constraints. In these interfaces, tokens are discrete physical objects which represent digital information. Constraints are confining regions that are mapped to digital operations. These are frequently embodied as structures that mechanically channel how tokens can be manipulated, often limiting their movement to a single degree of freedom. Placing and manipulating tokens within systems of constraints can be used to invoke and control a variety of computational interpretations.We discuss the properties of the token+constraint approach; consider strengths that distinguish them from other interface approaches; and illustrate the concept with eleven past and recent supporting systems. We present some of the conceptual background supporting these interfaces, and consider them in terms of 's [2002] five questions for sensing-based interaction. We believe this discussion supports token+constraint systems as a powerful and promising approach for sensing-based interaction. Background Simulation tools offer the opportunity for the acquisition of surgical skill in the preclinical setting. Potential educational, safety, cost, and outcome benefits have brought increasing attention to this area in recent years. Utility in ongoing assessment and documentation of surgical skill, and in documenting proficiency and competency by standardized metrics, is another potential application of this technology. Significant work is yet to be done in validating simulation tools in the teaching of endoscopic, laparoscopic, and other surgical skills. Early data suggest face and construct validity, and the potential for clinical benefit, from simulation-based preclinical skills development. The purpose of this review is to highlight the status of simulation in surgical education, including available simulator options, and to briefly discuss the future impact of these modalities on surgical training. Explains the need for haptics (feeling of touch) in medical simulation systems. Describes a variety of laparoscopic training systems and other surgical simulators. Highlights the Reachin Technologies AB Application Programming Interface (API) which is a software tool that significantly speeds up the development of surgical simulators. Copyright © 2004 Robotic Publications Ltd. Purpose of Review Robot-assisted minimally invasive surgery (RMIS) holds great promise for improving the accuracy and dexterity of a surgeon while minimizing trauma to the patient. However, widespread clinical success with RMIS has been marginal. It is hypothesized that the lack of haptic (force and tactile) feedback presented to the surgeon is a limiting factor. This review explains the technical challenges of creating haptic feedback for robot-assisted surgery and provides recent results that evaluate the effectiveness of haptic feedback in mock surgical tasks.