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  • 1.
    Blache, Ludovic
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology.
    Nysjö, Fredrik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Malmberg, Filip
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Thor, Andreas
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Plastic Surgery.
    Rodriguez-Lorenzo, Andres
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Plastic Surgery.
    Nyström, Ingela
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    SoftCut:: A Virtual Planning Tool for Soft Tissue Resection on CT Images2018In: Medical Image Understanding and Analysis / [ed] Mark Nixon; Sasan Mahmoodi; Reyer Zwiggelaar, Cham: Springer, 2018, Vol. 894, p. 299-310Conference paper (Refereed)
    Abstract [en]

    With the increasing use of three-dimensional (3D) models and Computer Aided Design (CAD) in the medical domain, virtual surgical planning is now frequently used. Most of the current solutions focus on bone surgical operations. However, for head and neck oncologic resection, soft tissue ablation and reconstruction are common operations. In this paper, we propose a method to provide a fast and efficient estimation of shape and dimensions of soft tissue resections. Our approach takes advantage of a simple sketch-based interface which allows the user to paint the contour of the resection on a patient specific 3D model reconstructed from a computed tomography (CT) scan. The volume is then virtually cut and carved following this pattern. From the outline of the resection defined on the skin surface as a closed curve, we can identify which areas of the skin are inside or outside this shape. We then use distance transforms to identify the soft tissue voxels which are closer from the inside of this shape. Thus, we can propagate the shape of the resection inside the soft tissue layers of the volume. We demonstrate the usefulness of the method on patient specific CT data.

  • 2.
    Nysjö, Fredrik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Modeling and Visualization for Virtual Interaction with Medical Image Data2020Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    Interactive systems for exploring and analysing medical three dimensional (3D) volume image data using techniques such as stereoscopic rendering and haptics can lead to new workflows for virtual surgery planning. This includes the design of patient-specific surgical guides and plates for additive manufacturing (3D printing). Our applications, medical visualization and cranio-maxillofacial surgery planning, involve large volume data such as computed tomo\-graphy (CT) images with millions of data points. This motivates the development of fast and efficient methods for visualization and haptic rendering, as well as the development of efficient modeling techniques for simplifying the design of 3D printable parts. In this thesis, we develop methods for visualization and haptic rendering of isosurfaces in volume image data, and show applications of these methods to medical visualization and virtual surgery planning. We further develop methods for modeling surgical guides and plates for cranio-maxillofacial surgery, and integrate them into our system for haptics-assisted surgery planning called HASP. This system is now installed at the department of surgical sciences, Uppsala University, and is being evaluated for use in clinical research.

    List of papers
    1. Snap-to-fit, a Haptic 6 DOF Alignment Tool for Virtual Assembly
    Open this publication in new window or tab >>Snap-to-fit, a Haptic 6 DOF Alignment Tool for Virtual Assembly
    2013 (English)In: Proc. World Haptics (WHC), 2013 IEEE, 2013, p. 205-210Conference paper, Published paper (Refereed)
    Abstract [en]

    Virtual assembly of complex objects has application in domains ranging from surgery planning to archaeology. In these domains the objective is to plan the restoration of skeletal anatomy or archaeological artifacts to achieve an optimal reconstruction without causing further damage. While graphical modeling plays a central role in virtual assembly, visual feedback alone is often insufficient since object contact and penetration is difficult to discern due to occlusion. Haptics can improve an assembly task by giving feedback when objects collide, but precise fitting of fractured objects guided by delicate haptic cues similar to those present in the physical world requires haptic display transparency beyond the performance of today’s systems. We propose a haptic alignment tool that combines a 6 Degrees of Freedom (DOF) attraction force with traditional 6 DOF contact forces to pull a virtual object towards a local stable fit with a fixed object. The object forces are integrated into a virtual coupling framework yielding a stable haptic tool. We demonstrate the use of our system on applications from both cranio-maxillofacial surgery and archaeology, and show that we can achieve haptic rates for fractured surfaces with over 5000 points.

    Keywords
    Virtual Assembly, Force Feedback, Haptic Rendering, Fractured Object, Virtual Environments, 3D puzzle
    National Category
    Human Computer Interaction Interaction Technologies Medical Image Processing
    Identifiers
    urn:nbn:se:uu:diva-209551 (URN)10.1109/WHC.2013.6548409 (DOI)000325187400035 ()978-1-4799-0087-9 (ISBN)
    Conference
    IEEE World Haptics Conference (WHC), 14-18 April, 2013, Daejeon, SOUTH KOREA
    Available from: 2013-10-21 Created: 2013-10-21 Last updated: 2020-01-23Bibliographically approved
    2. A haptics-assisted cranio-maxillofacial surgery planning system for restoring skeletal anatomy in complex trauma cases
    Open this publication in new window or tab >>A haptics-assisted cranio-maxillofacial surgery planning system for restoring skeletal anatomy in complex trauma cases
    2013 (English)In: International Journal of Computer Assisted Radiology and Surgery, ISSN 1861-6410, E-ISSN 1861-6429, Vol. 8, no 6, p. 887-894Article in journal (Refereed) Published
    Abstract [en]

    Cranio-maxillofacial (CMF) surgery to restore normal skeletal anatomy in patients with serious trauma to the face can be both complex and time-consuming. But it is generally accepted that careful pre-operative planning leads to a better outcome with a higher degree of function and reduced morbidity in addition to reduced time in the operating room. However, today's surgery planning systems are primitive, relying mostly on the user's ability to plan complex tasks with a two-dimensional graphical interface. A system for planning the restoration of skeletal anatomy in facial trauma patients using a virtual model derived from patient-specific CT data. The system combines stereo visualization with six degrees-of-freedom, high-fidelity haptic feedback that enables analysis, planning, and preoperative testing of alternative solutions for restoring bone fragments to their proper positions. The stereo display provides accurate visual spatial perception, and the haptics system provides intuitive haptic feedback when bone fragments are in contact as well as six degrees-of-freedom attraction forces for precise bone fragment alignment. A senior surgeon without prior experience of the system received 45 min of system training. Following the training session, he completed a virtual reconstruction in 22 min of a complex mandibular fracture with an adequately reduced result. Preliminary testing with one surgeon indicates that our surgery planning system, which combines stereo visualization with sophisticated haptics, has the potential to become a powerful tool for CMF surgery planning. With little training, it allows a surgeon to complete a complex plan in a short amount of time.

    National Category
    Medical Image Processing Surgery
    Identifiers
    urn:nbn:se:uu:diva-198977 (URN)10.1007/s11548-013-0827-5 (DOI)000326455900002 ()23605116 (PubMedID)
    Available from: 2013-04-21 Created: 2013-04-30 Last updated: 2020-01-23Bibliographically approved
    3. Using anti-aliased signed distance fields for generating surgical guides and plates from CT images
    Open this publication in new window or tab >>Using anti-aliased signed distance fields for generating surgical guides and plates from CT images
    Show others...
    2017 (English)In: Journal of WSCG, ISSN 1213-6972, E-ISSN 1213-6964, Vol. 25, no 1, p. 11-20Article in journal (Refereed) Published
    National Category
    Medical Image Processing
    Research subject
    Computerized Image Processing
    Identifiers
    urn:nbn:se:uu:diva-335346 (URN)
    Available from: 2017-12-04 Created: 2017-12-04 Last updated: 2020-01-23Bibliographically approved
    4. Evaluation of in-house, haptic assisted surgical planning for virtual reduction of complex mandibular fractures.
    Open this publication in new window or tab >>Evaluation of in-house, haptic assisted surgical planning for virtual reduction of complex mandibular fractures.
    Show others...
    (English)Manuscript (preprint) (Other academic)
    Abstract [en]

    The management of complex mandible fractures, i.e severely comminuted or fractures of edentulous/atrophic mandibles, can be challenging. This is due to the three-dimensional loss of bone, which limits the possibility for accurate anatomic reduction. Virtual surgery planning (VSP) can provide improved accuracy and shorter operating times, but is often not employed for trauma cases because of time constraints and complex user interfaces limited to two-dimensional interaction with three-dimensional data. In this study, we evaluate the accuracy, precision, and time efficiency of the Haptic Assisted Surgery Planning system (HASP), an in-house VSP system that supports stereo graphics, six degrees-of-freedom input and haptics, to improve the surgical planning. Three operators performed planning in HASP on Computed Tomography (CT) and Come Beam Computed Tomography (CBCT) images of a plastic skull model and on twelve retrospective cases with complex mandible fractures. The result shows an accuracy and reproducibility of less than 2mm when using HASP, with an average planning time of 15 minutes, including time for segmentation in the software BoneSplit. This study presents an in-house haptic assisted planning tool for cranio-maxillofacial surgery with high usability that can be used for preoperative planning and evaluation of complex mandible fractures. 

    Keywords
    Virtual surgical planning, Haptic technology, Complex mandible fractures.
    National Category
    Medical and Health Sciences
    Research subject
    Surgery; Computerized Image Processing
    Identifiers
    urn:nbn:se:uu:diva-377518 (URN)
    Available from: 2019-02-25 Created: 2019-02-25 Last updated: 2020-01-23
    5. RayCaching: Amortized Isosurface Rendering for Virtual Reality
    Open this publication in new window or tab >>RayCaching: Amortized Isosurface Rendering for Virtual Reality
    2019 (English)In: Computer graphics forum (Print), ISSN 0167-7055, E-ISSN 1467-8659Article in journal (Refereed) Epub ahead of print
    Abstract [en]

    Real‐time virtual reality requires efficient rendering methods to deal with high‐ resolution stereoscopic displays and low latency head‐tracking. Our proposed RayCaching method renders isosurfaces of large volume datasets by amortizing raycasting over several frames and caching primary rays as small bricks that can be efficiently rasterized. An occupancy map in form of a clipmap provides level of detail and ensures that only bricks corresponding to visible points on the isosurface are being cached and rendered. Hard shadows and ambient occlusion from secondary rays are also accumulated and stored in the cache. Our method supports real‐time isosurface rendering with dynamic isovalue and allows stereoscopic visualization and exploration of large volume datasets at framerates suitable for virtual reality applications.

    Place, publisher, year, edition, pages
    John Wiley & Sons, 2019
    Keywords
    ray tracing, visibility, point-based models, virtual reality
    National Category
    Computer Sciences
    Research subject
    Computerized Image Processing
    Identifiers
    urn:nbn:se:uu:diva-398397 (URN)10.1111/cgf.13762 (DOI)
    Available from: 2019-12-05 Created: 2019-12-05 Last updated: 2020-01-23Bibliographically approved
    6. Clustered Grid Cell Data Structure for Isosurface Rendering
    Open this publication in new window or tab >>Clustered Grid Cell Data Structure for Isosurface Rendering
    (English)Manuscript (preprint) (Other academic)
    Abstract [en]

    Active grid cells in scalar volume data are typically identified by many isosurface rendering methods when extracting another representation of the data for rendering. However, the use of grid cells themselves as rendering primitives is not extensively explored in the literature. In this paper, we propose a cluster-based data structure for storing the data of active grid cells for fast cell rasterisation via billboard splatting. Compared to previous cell rasterisation approaches, eight corner scalar values are stored with each active grid cell, so that the full volume data is not required during rendering. The grid cells can be quickly extracted and use about 37 percent memory compared to a typical efficient mesh-based representation, while supporting large grid sizes. We present further improvements such as a visibility buffer for cluster culling and EWA-based interpolation of attributes such as normals. We also show that our data structure can be used for hybrid ray tracing or path tracing to compute global illumination.

    Keywords
    Point-based rendering, Visibility, Ray tracing
    National Category
    Computer Sciences
    Research subject
    Computerized Image Processing
    Identifiers
    urn:nbn:se:uu:diva-402896 (URN)
    Note

    Submitted for peer-reviewed conference

    Available from: 2020-01-21 Created: 2020-01-21 Last updated: 2020-01-23
    7. Vectorised High-Fidelity Haptic Rendering with Dynamic Pointshell
    Open this publication in new window or tab >>Vectorised High-Fidelity Haptic Rendering with Dynamic Pointshell
    (English)Manuscript (preprint) (Other academic)
    Abstract [en]

    Exploiting parallelism in haptic rendering algorithms for rigid body collision simulation can be difficult due to the haptic feedback loop imposing strict real-time constraints on the computations. In this paper, we show that the classical Voxmap PointShell algorithm can be efficiently vectorised via the single-program multiple-data (SPMD) programming model of the Intel SPMD Program Compiler (ISPC) compiler and programming language. Our vectorised version provides an average 3.0x speedup compared to a corresponding scalar implementation, for a static hierarchical pointshell on a single CPU core. In addition, we propose a dynamic pointshell that does not require any pre-processing and allows a fixed point budget to be set per frame. The speedup obtained by the vectorisation means that a larger number of contact queries can be processed per haptic frame, while maintaining a desired haptic framerate. In an empirical study, we demonstrate that this increased fidelity in collision simulation translates directly to a higher user accuracy in assembly of fractured virtual objects.

    Keywords
    haptic rendering, isosurfaces, parallelisation
    National Category
    Computer Sciences
    Research subject
    Computerized Image Processing
    Identifiers
    urn:nbn:se:uu:diva-403102 (URN)
    Note

    Submitted to peer-reviewed conference for publication

    Available from: 2020-01-23 Created: 2020-01-23 Last updated: 2020-01-23
  • 3.
    Nysjö, Fredrik
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Malmberg, Filip
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Nyström, Ingela
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    RayCaching: Amortized Isosurface Rendering for Virtual Reality2019In: Computer graphics forum (Print), ISSN 0167-7055, E-ISSN 1467-8659Article in journal (Refereed)
    Abstract [en]

    Real‐time virtual reality requires efficient rendering methods to deal with high‐ resolution stereoscopic displays and low latency head‐tracking. Our proposed RayCaching method renders isosurfaces of large volume datasets by amortizing raycasting over several frames and caching primary rays as small bricks that can be efficiently rasterized. An occupancy map in form of a clipmap provides level of detail and ensures that only bricks corresponding to visible points on the isosurface are being cached and rendered. Hard shadows and ambient occlusion from secondary rays are also accumulated and stored in the cache. Our method supports real‐time isosurface rendering with dynamic isovalue and allows stereoscopic visualization and exploration of large volume datasets at framerates suitable for virtual reality applications.

  • 4.
    Nysjö, Fredrik
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Olsson, Pontus
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Hirsch, Jan-Michaél
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Oral and Maxillofacial Surgery.
    Carlbom, Ingrid B.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Custom Mandibular Implant Design with Deformable Models and Haptics2014In: Proc. Computer Assisted Radiology and Surgery (CARS). Fukuoka, Japan, June 25-28, Springer Berlin/Heidelberg, 2014, p. 246-247Conference paper (Refereed)
  • 5.
    Nysjö, Fredrik
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Olsson, Pontus
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Malmberg, Filip
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Carlbom, Ingrid B.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Nyström, Ingela
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Signed Distance Fields for Modeling Surgical Guides and Plates from CT Images2016In: Proc, Swedish Symposium on Image Analysis: SSBA 2016, 2016Conference paper (Other academic)
    Abstract [en]

    User-friendly virtual surgery planning(VSP) systems for reconstructive surgery, such as cranio-maxillofacial (CMF) surgery, that can be used by the surgeons themselves without help of a technician have the potential to shorten the pre-operative planning from days to hours. An important part of such systems is the design of surgical guides and plates for osteosynthesis. We describe a method for generating surgical guide and plate models from computed tomography (CT) images, using signed distance fields and constructive solidgeometry (CSG). We implement the method as an extension to our Haptics-Assisted Surgery Plan-ning (HASP) system that enables a user to quickly design guide and plate models with stereo graphics and haptic feedback. We find that surgical guide and plate models can be efficiently generated from segmented CT images with our method. We also find that an anti-aliased distance transform can improve the accuracy and precision of the modelingin this application.

  • 6.
    Nysjö, Fredrik
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Olsson, Pontus
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Malmberg, Filip
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Carlbom, Ingrid B.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Nyström, Ingela
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Using anti-aliased signed distance fields for generating surgical guides and plates from CT images2017In: Journal of WSCG, ISSN 1213-6972, E-ISSN 1213-6964, Vol. 25, no 1, p. 11-20Article in journal (Refereed)
  • 7. Nyström, Ingela
    et al.
    Olsson, Pontus
    Nysjö, Johan
    Nysjö, Fredrik
    Malmberg, Filip
    Seipel, Stefan
    Hirsch, Jan Michael
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Oral and Maxillofacial Surgery.
    Carlbom, Ingrid B
    Virtual Cranio-Maxillofacial Surgery Planning with Stereo Graphics and Haptics2016In: Computer-Assisted Musculoskeletal Surgery: Thinking and Executing in 3D / [ed] Ritacco, Lucas E., Milano, Federico E., Chao, Edmund, Springer International Publishing , 2016, p. 29-42Chapter in book (Refereed)
    Abstract [en]

    Computer-Assisted Surgery (CAS) is a new tool for performing complex procedures in a predictable and safe way. This book is designed to serve as a comprehensive review of Computer-Assisted Surgery, covering the current status of both research and applications.

    CAS includes Virtual Preoperative Planning (VPP) and Intraoperative Virtual Navigation (IVN), which are a set of technologies used to measure oncological margins in 3-Dimensions (3D), to locate small intraosseous tumors and apply controlled resections preserving anatomical structures. During VPP, patient acquired multimodal images are processed and an interactive virtual scenario is created. This can then be used as a  platform to  measure oncological distances and preplan osteotomies in safe areas. IVN is a procedure which allows the execution of the VPP with a mean error of less than 3mm.

    For the student, medical doctors, research and development scientists or new researchers, the protocols are central to the performance of Computer-Assisted technologies.  

  • 8.
    Olsson, Pontus
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Johansson, Stefan
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Microsystems Technology.
    Nysjö, Fredrik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Carlbom, Ingrid
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Rendering stiffness with a prototype haptic glove actuated by an integrated piezoelectric motor2012In: Haptics: Perception, Devices, Mobility, and Communication: Part I, Springer Berlin/Heidelberg, 2012, p. 361-372Conference paper (Refereed)
  • 9.
    Olsson, Pontus
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Nysjö, Fredrik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Carlbom, Ingrid B.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Johansson, Stefan
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Microsystems Technology.
    Comparison of walking and traveling-wave piezoelectric motors as actuators in kinesthetic haptic devices2016In: IEEE Transactions on Haptics, ISSN 1939-1412, E-ISSN 2329-4051, Vol. 9, no 3, p. 427-431Article in journal (Refereed)
    Abstract [en]

    Piezoelectric motors offer an attractive alternative to electromagnetic actuators in portable haptic interfaces: they are compact, have a high force-to-volume ratio, and can operate with limited or no gearing. However, the choice of a piezoelectric motor type is not obvious due to differences in performance characteristics. We present our evaluation of two commercial, operationally different, piezoelectric motors acting as actuators in two kinesthetic haptic grippers, a walking quasi-static motor and a traveling wave ultrasonic motor. We evaluate each gripper's ability to display common virtual objects including springs, dampers, and rigid walls, and conclude that the walking quasi-static motor is superior at low velocities. However, for applications where high velocity is required, traveling wave ultrasonic motors are a better option.

  • 10.
    Olsson, Pontus
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Nysjö, Fredrik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Hirsch, Jan-Michaél
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Oral and Maxillofacial Surgery.
    Carlbom, Ingrid B.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    A haptics-assisted cranio-maxillofacial surgery planning system for restoring skeletal anatomy in complex trauma cases2013In: International Journal of Computer Assisted Radiology and Surgery, ISSN 1861-6410, E-ISSN 1861-6429, Vol. 8, no 6, p. 887-894Article in journal (Refereed)
    Abstract [en]

    Cranio-maxillofacial (CMF) surgery to restore normal skeletal anatomy in patients with serious trauma to the face can be both complex and time-consuming. But it is generally accepted that careful pre-operative planning leads to a better outcome with a higher degree of function and reduced morbidity in addition to reduced time in the operating room. However, today's surgery planning systems are primitive, relying mostly on the user's ability to plan complex tasks with a two-dimensional graphical interface. A system for planning the restoration of skeletal anatomy in facial trauma patients using a virtual model derived from patient-specific CT data. The system combines stereo visualization with six degrees-of-freedom, high-fidelity haptic feedback that enables analysis, planning, and preoperative testing of alternative solutions for restoring bone fragments to their proper positions. The stereo display provides accurate visual spatial perception, and the haptics system provides intuitive haptic feedback when bone fragments are in contact as well as six degrees-of-freedom attraction forces for precise bone fragment alignment. A senior surgeon without prior experience of the system received 45 min of system training. Following the training session, he completed a virtual reconstruction in 22 min of a complex mandibular fracture with an adequately reduced result. Preliminary testing with one surgeon indicates that our surgery planning system, which combines stereo visualization with sophisticated haptics, has the potential to become a powerful tool for CMF surgery planning. With little training, it allows a surgeon to complete a complex plan in a short amount of time.

  • 11.
    Olsson, Pontus
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Nysjö, Fredrik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Hirsch, Jan-Michaél
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Oral and Maxillofacial Surgery.
    Carlbom, Ingrid B.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Snap-to-fit, a Haptic 6 DOF Alignment Tool for Virtual Assembly2013In: Proc. World Haptics (WHC), 2013 IEEE, 2013, p. 205-210Conference paper (Refereed)
    Abstract [en]

    Virtual assembly of complex objects has application in domains ranging from surgery planning to archaeology. In these domains the objective is to plan the restoration of skeletal anatomy or archaeological artifacts to achieve an optimal reconstruction without causing further damage. While graphical modeling plays a central role in virtual assembly, visual feedback alone is often insufficient since object contact and penetration is difficult to discern due to occlusion. Haptics can improve an assembly task by giving feedback when objects collide, but precise fitting of fractured objects guided by delicate haptic cues similar to those present in the physical world requires haptic display transparency beyond the performance of today’s systems. We propose a haptic alignment tool that combines a 6 Degrees of Freedom (DOF) attraction force with traditional 6 DOF contact forces to pull a virtual object towards a local stable fit with a fixed object. The object forces are integrated into a virtual coupling framework yielding a stable haptic tool. We demonstrate the use of our system on applications from both cranio-maxillofacial surgery and archaeology, and show that we can achieve haptic rates for fractured surfaces with over 5000 points.

  • 12.
    Olsson, Pontus
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Nysjö, Fredrik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Rodríguez-Lorenzo, Andrés
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Plastic Surgery.
    Thor, Andreas
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Plastic Surgery. Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Oral and Maxillofacial Surgery.
    Hirsch, Jan-Michaél
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Plastic Surgery. Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Oral and Maxillofacial Surgery.
    Carlbom, Ingrid B.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Haptics-assisted Virtual Planning of Bone, Soft Tissue, and Vessels in Fibula Osteocutaneous Free Flaps2015In: Plastic and Reconstructive Surgery - Global Open, ISSN 2169-7574, Vol. 3, no 8, article id e479Article in journal (Refereed)
    Abstract [en]

    Background: Virtual surgery planning has proven useful for reconstructing head and neck defects by fibula osteocutaneous free flaps (FOFF). Benefits include improved healing, function, and aesthetics, as well as cost savings. But available virtual surgery planning systems incorporating fibula in craniomaxillofacial reconstruction simulate only bone reconstruction without considering vessels and soft tissue.

    Methods: The Haptics-Assisted Surgery Planning (HASP) system incorporates bone, vessels, and soft tissue of the FOFF in craniomaxillofacial defect reconstruction. Two surgeons tested HASP on 4 cases they had previously operated on: 3 with composite mandibular defects and 1 with a composite cervical spine defect. With the HASP stereographics and haptic feedback, using patient-specific computed tomography angiogram data, the surgeons planned the 4 cases, including bone resection, fibula design, recipient vessels selection, pedicle and perforator location selection, and skin paddle configuration.

    Results: Some problems encountered during the actual surgery could have been avoided as they became evident with HASP. In one case, the fibula reconstruction was incomplete because the fibula had to be reversed and thus did not reach the temporal fossa. In another case, the fibula had to be rotated 180 degrees to correct the plate and screw placement in relation to the perforator. In the spinal case, difficulty in finding the optimal fibula shape and position required extra ischemia time.

    Conclusions: The surgeons found HASP to be an efficient planning tool for FOFF reconstructions. The testing of alternative reconstructions to arrive at an optimal FOFF solution preoperatively potentially improves patient function and aesthetics and reduces operating room time.

  • 13.
    Olsson, Pontus
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Nysjö, Fredrik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Seipel, Stefan
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Carlbom, Ingrid
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Physically Co-Located Haptic Interaction with 3D Displays2012In: Proc. Haptics Symposium (HAPTICS), 2012 IEEE, 2012, p. 267-272Conference paper (Refereed)
    Abstract [en]

    Studies indicate that haptic interaction with a computer generated virtual scene may become more intuitive by aligning (co-locating) the visual and haptic workspaces so that the visual and haptic feedback coincide as they do in the real world. Co-located haptics may gain importance when more advanced haptic interfaces, such as high-fidelity whole hand devices, become available. We describe a user study that investigates the pros and cons with physically co-located versus non-collocated haptics on two different display types: a commercial half-transparent mirror 3D display with shutter glasses and a prototype autostereoscopic display based on a Holographic Optical Element (HOE). We use two accuracy tasks with spatial accuracy as the dependent variable and one manipulation task with time as the dependent variable. The study shows that on both displays co-location significantly improves completion time in the manipulation task. However, the study shows that co-location does not improve the accuracy in the spatial accuracy tasks.

  • 14.
    Olsson, Pontus
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Nysjö, Fredrik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Singh, Neeru
    Thor, Andreas
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Oral and Maxillofacial Surgery. Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Surgical Sciences, Plastic Surgery.
    Carlbom, Ingrid
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Visuohaptic bone saw simulator: Combining vibrotactile and kinesthetic feedback2015In: Proc. 8th ACM SIGGRAPH Asia Technical Briefs, New York: ACM Press, 2015, p. 10:1-4Conference paper (Refereed)
  • 15.
    Svensson, Lennart
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Svensson, Stina
    RaySearch Labs, Stockholm, Sweden.
    Nyström, Ingela
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Nysjö, Fredrik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Nysjö, Johan
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Laloeuf, Aurelie
    Karolinska Inst, Dept Cell & Mol Biol, Stockholm, Sweden.
    den Hollander, Lianne
    Karolinska Inst, Dept Cell & Mol Biol, Stockholm, Sweden.
    Brun, Anders
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Masich, Sergej
    Karolinska Inst, Dept Cell & Mol Biol, Stockholm, Sweden.
    Sandblad, Linda
    Umea Univ, Dept Mol Biol, Umea, Sweden.
    Sani, Musa
    Vironova AB, Stockholm, Sweden.
    Sintorn, Ida-Maria
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Vironova AB, Stockholm, Sweden.
    ProViz: a tool for explorative 3-D visualization and template matching in electron tomograms2017In: COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING-IMAGING AND VISUALIZATION, ISSN 2168-1163, Vol. 5, no 6, p. 446-454Article in journal (Refereed)
    Abstract [en]

    Visual understanding is a key aspect when studying electron tomography data-sets, aside quantitative assessments such as registration of high-resolution structures. We here present the free software tool ProViz (Protein Visualization) for visualisation and templatematching in electron tomograms of biological samples. The ProViz software contains methods and tools which we have developed, adapted and computationally optimised for easy and intuitive visualisation and analysis of electron tomograms with low signal-to-noise ratio. ProViz complements existing software in the application field and serves as an easy and convenient tool for a first assessment and screening of the tomograms. It provides enhancements in three areas: (1) improved visualisation that makes connections as well as intensity differences between and within objects or structures easier to see and interpret, (2) interactive transfer function editing with direct visual result feedback using both piecewise linear functions and Gaussian function elements, (3) computationally optimised template matching and tools to visually assess and interactively explore the correlation results. The visualisation capabilities and features of ProViz are demonstrated on various biological volume data-sets: bacterial filament structures in vitro, a desmosome and the transmembrane cadherin connections therein in situ, and liposomes filled with doxorubicin in solution. The explorative template matching is demonstrated on a synthetic IgG data-set.

1 - 15 of 15
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