Tutorial fourth inserting a laproscopic instrument
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This document provides instructions for inserting a laparoscopic instrument into a SOFA simulation and animating it using mouse controls: 1. Add a Laparoscopic Mechanical object to the root node and check the Animate option. 2. Add a Rigid Mechanical Object node under the instrument node and map it to the laparoscopic material. Add a visual node for graphics. 3. Change the viewer to Glut to see instrument movement without code editing. 4. Run the scene and use mouse controls to move the instrument in yaw, pitch, and translate modes.
Tutorial fourth inserting a laproscopic instrument
- 1. Tutorial Fourth Inserting a Laparoscopic instrument School of Electrical Engineering & Computer Science, 1 National University of Sciences & Technology, Pakistan
- 2. What’s new • Introduction mouse controlled Instrument addition.
- 3. Laparoscopic Mechanical object • In Root Node’s property 2/2 check the Animate option. • Add a Laparoscopic Mechanical object in new node added to the Root node.
- 4. Check the Animate option
- 5. Rigid Layer • Add another node in the instrument node. – Add Rigid Mechanical Object. – Map it on the Laparoscopic material using Laparoscopic mapping. – To add graphic display add a new node fro Visual purpose. • Add OglModel and simple Rigid Mapping with Rigid to ExVec3f.
- 6. Rigid Layer
- 7. Glut • In initial to watch instrument move without editing the code you will have to see this in Glut GUI/Window. – The normal windows in the previous tutorials open in a QT viewer GUI/window. • To do so go to the RunSofa drop down on the top left of the modeler along side scenes. – Open the drop down. – Click Viewer to open it up and select glut instead of default
- 9. Animate • Now Run the scene in SOFA. • There you will see an instrument. – Press R to see its axis and pivoted point. – Simultaneously hold Ctrl key and Left click and move mouse in horizontally to move the instrument move in YAW direction. – In a same way hold Ctrl key and Right click and move mouse in horizontally to move the instrument move in Pitch direction. – Hold Ctrl key and Right click and move mouse in vertically to translate the instrument.
- 10. Final output