Patent ID: 6714901
Filing Date: 2004-03-30
Classification: B25J,G05B,G06F

Abstract:
An improved electronic device for processing image data, of the type that includesa user interface (4) capable of generating a force feedback, in accordance with the reactions of a tool (6, 7), an internal forces module (16) able, on designation of a 3D object appearing in a set of image data, to establish a field of internal forces between nodes (N) of a volume meshing dependent on a surface meshing of this object, on the basis of a deformation law and of an action defined by the user interface (4) and representative of a maneuver of the said tool, wherein the volume meshing includes links between the nodes thereof, and additionally includes volume mesh cells that are defined by the notes and the links, and a reaction module (20) for determining a reaction force of the object which corresponds to its deformation estimated on the basis of the internal forces, so that the force generated by the user interface (4) is substantially balanced by this reaction force, and a refresh module (17) for calculating new image data of the object, in the presence of its estimated deformations supplemented with a representation of the said tool, wherein the improvement comprises: a collision module (18) able to estimate a point of intersection between a straight line embodying a displacement derived from the said defined action and the said surface meshing, wherein the internal forces module (16) is devised so as to estimate the internal force exerted on each node of a first part at least of the volume meshing of the object on the basis of the said displacement applied to the nodes belonging to a surface mesh cell containing the said point of intersection, of boundary conditions, and of node tensors and link tensors emanating respectively for each node and each link of this first part at least, from stiffness matrices specific to each volume mesh cell of at least the said first part and dependent on the deformation law.