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Development of a haptic model for ultrasound-guided catheter insertion

Key Investigators

• Naomi Catwell (ÉTS)
• Simon Drouin (ÉTS)

Presenter location: Online

Project Description

Integration of SOFA Framework into Unity in order to develop a haptics-enabled training simulator in virtual reality for intravenous catheter insertion using ultrasound guidance.

The objective is to develop a realistic haptic model for both the catheter insertion and ultrasound manipulation using Unity and SOFA framework.

Objectives

1. Become familiar with SOFA Framework for haptics
2. Integrate SOFA Framework into Unity using InfinyTech’s plugin solution
3. Integrate usage of Haply’s Inverse3 haptic robot through SOFA in Unity

Approach and Plan

1. Complete the SOFA Training introduction course
2. Follow InfinyTech3D integration guide for Unity integration of Inverse3
3. Ask the slicer-sofa project community or the SOFA Framework community for input if needed

Progress and Next Steps

Progress

1. Completed SOFA training course for getting started in SOFA development
2. Equipped existing haptics project with InfinyTech3D’s SOFA-Unity asset
3. Implemented test scenes in SOFA

Next steps

1. Fix/understand reason for segfault error in collision test in SOFA
2. Fix error on SOFA scene loading into Unity
3. Integrate usage of Inverse3 haptic robot through SOFA in Unity and test out the haptics

Illustrations

Background and References

• https://www.sofa-framework.org/community/doc/
• https://www.sofa-framework.org/community/doc/getting-started/video-tutorials/introduction-course/
• https://infinytech3d.com/sapapi-unity3d/