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This work presents an evaluation study using a force feedback evaluationframework for a novel direct needle force volume rendering concept in thecontext of liver puncture simulation. PTC/PTCD puncture interventions targetingthe bile ducts have been selected to illustrate this concept. The hapticalgorithms of the simulator system are based on (1) partially segmented patientimage data and (2) a non-linear spring model effective at organ borders. Theprimary aim is to quantitatively evaluate force errors caused by our patientmodeling approach, in comparison to haptic force output obtained from usinggold-standard, completely manually-segmented data. The evaluation of the forcealgorithms compared to a force output from fully manually segmentedgold-standard patient models, yields a low mean of 0.12 N root mean squaredforce error and up to 1.6 N for systematic maximum absolute errors. Forceerrors were evaluated on 31,222 preplanned test paths from 10 patients. Onlytwelve percent of the emitted forces along these paths were affected by errors.This is the first study evaluating haptic algorithms with deformable virtualpatients in silico. We prove haptic rendering plausibility on a very highnumber of test paths. Important errors are below just noticeable differencesfor the hand-arm system.

Evaluation of Direct Haptic 4D Volume Rendering of Partially Segmented Data for Liver Puncture Simulation