Leung Ka Man. / Thesis submitted in: August 2002. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2003. / Includes bibliographical references (leaves 81-84). / Abstracts in English and Chinese. / Abstract --- p.ii / Acknowledgements --- p.iv / Contents --- p.v / List of Figures --- p.viii / List of Tables --- p.x / Chapter 1. --- Introduction --- p.1 / Chapter 1.1 --- Surgical Needle Simulation --- p.4 / Chapter 1.1.1 --- Data Source --- p.5 / Chapter 1.1.2 --- Computer-aided training simulation --- p.6 / Chapter 1.1.3 --- Existing Systems --- p.8 / Chapter 1.2 --- Research Goal --- p.10 / Chapter 1.3 --- Organization of this Thesis --- p.12 / Chapter 2. --- Haptization of Needle Interactions --- p.13 / Chapter 2.1 --- Data Collection --- p.13 / Chapter 2.1.1 --- Force Measurement --- p.14 / Chapter 2.1.2 --- Data Correlation --- p.17 / Chapter 2.1.3 --- Expert Opinion --- p.18 / Chapter 2.2 --- Haptic Display Devices --- p.18 / Chapter 2.2.1 --- General-purpose Devices --- p.19 / Chapter 2.2.2 --- Tailor-made Devices --- p.20 / Chapter 2.3 --- Haptic Models for Tissues --- p.21 / Chapter 2.3.1 --- Stiffness Models --- p.21 / Chapter 2.3.2 --- Friction Models --- p.22 / Chapter 2.3.3 --- Modelling of needle operations --- p.23 / Chapter 2.4 --- Chapter Summary --- p.24 / Chapter 3. --- Haptic Rendering of Bi-directional Needle Manipulation --- p.25 / Chapter 3.1 --- Data Source and Pre-processing --- p.26 / Chapter 3.1.1 --- Virtual Body Surface Construction --- p.28 / Chapter 3.1.2 --- Tissue Mapping for Haptic Rendering --- p.29 / Chapter 3.2 --- The PHANToM´ёØ Haptic Device --- p.31 / Chapter 3.3 --- Force Profile Analysis --- p.33 / Chapter 3.4 --- Haptic Model Construction --- p.37 / Chapter 3.4.1 --- Skin --- p.41 / Chapter 3.4.2 --- Adipose Tissue --- p.48 / Chapter 3.4.3 --- Muscle --- p.49 / Chapter 3.4.4 --- Bone --- p.50 / Chapter 3.5 --- Force Composition --- p.51 / Chapter 3.5.1 --- Structure Weight Compensation --- p.52 / Chapter 3.5.2 --- Path Constraint Force --- p.52 / Chapter 3.5.3 --- Needle Axial Force --- p.53 / Chapter 3.6 --- Interactive Calibration --- p.60 / Chapter 3.7 --- Skin Deformation --- p.61 / Chapter 3.8 --- Chapter Summary --- p.63 / Chapter 4. --- Parallel Visual-Haptic Rendering --- p.64 / Chapter 4.1 --- Parallel Network Architecture --- p.64 / Chapter 4.2 --- Visual Rendering Pipeline --- p.65 / Chapter 4.3 --- Haptic Rendering Pipeline --- p.67 / Chapter 4.4 --- Chapter Summary --- p.67 / Chapter 5. --- User Interface --- p.68 / Chapter 5.1 --- Needle Practice --- p.68 / Chapter 5.1.1 --- Moving Mode --- p.69 / Chapter 5.1.2 --- Acupuncture Atlas --- p.70 / Chapter 5.1.3 --- Training Results --- p.70 / Chapter 5.1.4 --- User Controls --- p.71 / Chapter 5.2 --- Device Calibration --- p.72 / Chapter 5.3 --- Model Settings --- p.72 / Chapter 5.4 --- Chapter Summary --- p.72 / Chapter 6. --- Conclusion --- p.73 / Chapter 6.1 --- Research Summary --- p.73 / Chapter 6.2 --- Suggested Improvement --- p.74 / Chapter 6.3 --- Future Research Works --- p.75 / Appendix A: Mapping Table for Tissues --- p.76 / Appendix B: Incremental Viscoelastic Model --- p.78 / Appendix C: Model Parameter Values --- p.80 / Bibliography --- p.81