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<export-example>
  <doc>
    <id>96</id>
    <completedYear/>
    <publishedYear>2019</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>1</pageFirst>
    <pageLast>10</pageLast>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume>114</volume>
    <type>article</type>
    <publisherName>Elsevier</publisherName>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>2019-12-17</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Force-feedback assisted and virtual fixtures based K-wire drilling simulation</title>
    <abstract language="eng">One common method to fix fractures of the human hand after an accident is an osteosynthesis with Kirschner wires (K-wires) to stabilize the bone fragments. The insertion of K-wires is a delicate minimally invasive surgery, because surgeons operate almost without a sight. Since realistic training methods are time consuming, costly and insufficient, a virtual-reality (VR) based training system for the placement of K-wires was developed. As part of this, the current work deals with the real-time bone drilling simulation using a haptic force-feedback device.&#13;
&#13;
To simulate the drilling, we introduce a virtual fixture based force-feedback drilling approach. By decomposition of the drilling task into individual phases, each phase can be handled individually to perfectly control the drilling procedure. We report about the related finite state machine (FSM), describe the haptic feedback of each state and explain, how to avoid jerking of the haptic force-feedback during state transition.&#13;
&#13;
The usage of the virtual fixture approach results in a good haptic performance and a stable drilling behavior. This was confirmed by 26 expert surgeons, who evaluated the virtual drilling on the simulator and rated it as very realistic. To make the system even more convincing, we determined real drilling feed rates through experimental pig bone drilling and transferred them to our system. Due to a constant simulation thread we can guarantee a precise drilling motion.&#13;
&#13;
Virtual fixtures based force-feedback calculation is able to simulate force-feedback assisted bone drilling with high quality and, thus, will have a great potential in developing medical applications.</abstract>
    <parentTitle language="eng">Computers in Biology and Medicine</parentTitle>
    <identifier type="doi">10.1016/j.compbiomed.2019.103473</identifier>
    <note>Corresponding author: Christoph Palm</note>
    <enrichment key="BegutachtungStatus">peer-reviewed</enrichment>
    <licence>Creative Commons - CC BY-NC-ND - Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International</licence>
    <author>Johannes Maier</author>
    <author>Jerome Perret</author>
    <author>Martina Simon</author>
    <author>Stephanie Schmitt-Rüth</author>
    <author>Thomas Wittenberg</author>
    <author>Christoph Palm</author>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Handchirurgie</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Osteosynthese</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Operationstechnik</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Lernprogramm</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Virtuelle Realität</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Medical training system</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Virtual fixtures</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Virtual reality</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Force-feedback haptic</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Minimally invasive hand surgery</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>K-wire drilling</value>
    </subject>
    <collection role="ddc" number="6">Technik, Medizin, angewandte Wissenschaften</collection>
    <collection role="institutes" number="FakIM">Fakultät Informatik und Mathematik</collection>
    <collection role="institutes" number="RCBE">Regensburg Center of Biomedical Engineering - RCBE</collection>
    <collection role="persons" number="palmremic">Palm, Christoph (Prof. Dr.) - ReMIC</collection>
    <collection role="persons" number="palmhaptivist">Palm, Christoph (Prof. Dr.) - Projekt HaptiVisT</collection>
    <collection role="othforschungsschwerpunkt" number="16314">Lebenswissenschaften und Ethik</collection>
    <collection role="oaweg" number="">Hybrid Open Access - OA-Veröffentlichung in einer Subskriptionszeitschrift/-medium</collection>
    <collection role="oaweg" number="">Corresponding author der OTH Regensburg</collection>
    <collection role="institutes" number="">Labor Regensburg Medical Image Computing (ReMIC)</collection>
  </doc>
  <doc>
    <id>16</id>
    <completedYear/>
    <publishedYear>2018</publishedYear>
    <thesisYearAccepted/>
    <language>deu</language>
    <pageFirst>176</pageFirst>
    <pageLast>181</pageLast>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume/>
    <type>conferenceobject</type>
    <publisherName>Springer</publisherName>
    <publisherPlace>Berlin</publisherPlace>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>2018-02-21</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="deu">CT-basiertes virtuelles Fräsen am Felsenbein</title>
    <abstract language="deu">Im Rahmen der Entwicklung eines haptisch-visuellen Trainingssystems für das Fräsen am Felsenbein werden ein Haptikarm und ein autostereoskopischer 3D-Monitor genutzt, um Chirurgen die virtuelle Manipulation von knöchernen Strukturen im Kontext eines sog. Serious Game zu ermöglichen. Unter anderem sollen Assistenzärzte im Rahmen ihrer Ausbildung das Fräsen am Felsenbein für das chirurgische Einsetzen eines Cochlea-Implantats üben können. Die Visualisierung des virtuellen Fräsens muss dafür in Echtzeit und möglichst realistisch modelliert, implementiert und evaluiert werden. Wir verwenden verschiedene Raycasting Methoden mit linearer und Nearest Neighbor Interpolation und vergleichen die visuelle Qualität und die Bildwiederholfrequenzen der Methoden. Alle verglichenen Verfahren sind sind echtzeitfähig, unterscheiden sich aber in ihrer visuellen Qualität.</abstract>
    <parentTitle language="deu">Bildverarbeitung für die Medizin 2018; Algorithmen - Systeme - Anwendungen. Proceedings des Workshops vom 11. bis 13. März 2018 in Erlangen</parentTitle>
    <subTitle language="deu">Bild- und haptischen Wiederholfrequenzen bei unterschiedlichen Rendering Methoden</subTitle>
    <identifier type="isbn">978-3-662-56537-7</identifier>
    <identifier type="doi">10.1007/978-3-662-56537-7_51</identifier>
    <enrichment key="OtherSeries">Informatik aktuell</enrichment>
    <enrichment key="BegutachtungStatus">peer-reviewed</enrichment>
    <licence>Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG</licence>
    <author>Daniela Franz</author>
    <author>Maria Dreher</author>
    <author>Martin Prinzen</author>
    <author>Matthias Teßmann</author>
    <author>Christoph Palm</author>
    <author>Uwe Katzky</author>
    <author>Jerome Perret</author>
    <author>Mathias Hofer</author>
    <author>Thomas Wittenberg</author>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Felsenbein</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Fräsen</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Virtualisierung</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Computertomographie</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Computerassistierte Chirurgie</value>
    </subject>
    <collection role="ddc" number="0">Informatik, Informationswissenschaft, allgemeine Werke</collection>
    <collection role="ddc" number="6">Technik, Medizin, angewandte Wissenschaften</collection>
    <collection role="institutes" number="FakIM">Fakultät Informatik und Mathematik</collection>
    <collection role="institutes" number="RCBE">Regensburg Center of Biomedical Engineering - RCBE</collection>
    <collection role="persons" number="palmremic">Palm, Christoph (Prof. Dr.) - ReMIC</collection>
    <collection role="persons" number="palmhaptivist">Palm, Christoph (Prof. Dr.) - Projekt HaptiVisT</collection>
    <collection role="othforschungsschwerpunkt" number="16314">Lebenswissenschaften und Ethik</collection>
    <collection role="institutes" number="">Labor Regensburg Medical Image Computing (ReMIC)</collection>
  </doc>
  <doc>
    <id>103</id>
    <completedYear/>
    <publishedYear>2018</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>291</pageFirst>
    <pageLast>296</pageLast>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume/>
    <type>conferenceobject</type>
    <publisherName>Springer</publisherName>
    <publisherPlace>Berlin</publisherPlace>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Force-Feedback-assisted Bone Drilling Simulation Based on CT Data</title>
    <abstract language="eng">In order to fix a fracture using minimally invasive surgery approaches, surgeons are drilling complex and tiny bones with a 2 dimensional X-ray as single imaging modality in the operating room. Our novel haptic force-feedback and visual assisted training system will potentially help hand surgeons to learn the drilling procedure in a realistic visual environment. Within the simulation, the collision detection as well as the interaction between virtual drill, bone voxels and surfaces are important. In this work, the chai3d collision detection and force calculation algorithms are combined with a physics engine to simulate the bone drilling process. The chosen Bullet-Physics-Engine provides a stable simulation of rigid bodies, if the collision model of the drill and the tool holder is generated as a compound shape. Three haptic points are added to the K-wire tip for removing single voxels from the bone. For the drilling process three modes are proposed to emulate the different phases of drilling in restricting the movement of a haptic device.</abstract>
    <parentTitle language="deu">Bildverarbeitung für die Medizin 2018; Algorithmen - Systeme - Anwendungen; Proceedings des Workshops vom 11. bis 13. März 2018 in Erlangen</parentTitle>
    <identifier type="doi">10.1007/978-3-662-56537-7_78</identifier>
    <enrichment key="BegutachtungStatus">peer-reviewed</enrichment>
    <licence>Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG</licence>
    <author>Johannes Maier</author>
    <author>Michaela Huber</author>
    <author>Uwe Katzky</author>
    <author>Jerome Perret</author>
    <author>Thomas Wittenberg</author>
    <author>Christoph Palm</author>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Handchirurgie</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Osteosynthese</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Simulation</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Lernprogramm</value>
    </subject>
    <collection role="ddc" number="0">Informatik, Informationswissenschaft, allgemeine Werke</collection>
    <collection role="institutes" number="FakIM">Fakultät Informatik und Mathematik</collection>
    <collection role="institutes" number="RCBE">Regensburg Center of Biomedical Engineering - RCBE</collection>
    <collection role="persons" number="palmremic">Palm, Christoph (Prof. Dr.) - ReMIC</collection>
    <collection role="persons" number="palmhaptivist">Palm, Christoph (Prof. Dr.) - Projekt HaptiVisT</collection>
    <collection role="othforschungsschwerpunkt" number="16314">Lebenswissenschaften und Ethik</collection>
    <collection role="institutes" number="">Labor Regensburg Medical Image Computing (ReMIC)</collection>
  </doc>
</export-example>
