E_mail:sadeghiazadehgmail'com

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?????? ????? ? ?????? ?? ?? ?????

• ????? ????? ????? ?????
• ?????? ?????? ??????? ?? ?????
• E_mailsadeghiazadeh_at_gmail.com

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????? ????? ?????

• ?????? ????? ???? ?
• ???????
• ????? ??? virtual reality
• ??? ????? ? ?????? ?? ????? VR
• ????????? ????? VR
• ?????? ?? ?????
• ??? ???
• ????? ? ???? ??? ???? ??? ?????? ?????

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????? ?????- Virtual

• ?????  virtual ???? ?? ?? ?????? ??? ??????
  ??????? ? ???? ???? ????? ???? ?? ?????? ??????
  ??????. ???? ???? ?? ??? ????? ( ?????- ??? )
  ??????? ????? ??? ????? ??????????

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?????? ????? virtual reality

• ???? ?????????? ?? ?? ??????? ?? ???? ???
  ???? ?? ???? ?????? ?? ????? ???? ?? ??? ??? ????
  ????? ?????? ?????.
• ?????? ????? ?? ??????  VR ????? ??? ??????
  ?????? ?? ?? ?? ?????? ?? ???? ?? ???? ???? (
  ????? ???? ) ????? ??????? ?????? ???? ? ?? ????
  ?? ???? ?? ???? ???????? ????? ?? ???? ????? ??
  ????.?? ????? ?????? ????? ??????? ?? ??????
  ??????? ?? ???? ???????? ? ????? ????? ?? ?
  ???????? ??? ????? ?? ????? ???? ????? ?? ????
  ????? ???? ???? ??? ???. ?? ??? ???? ????? ??????
  ????? ? ????? ??? ????? ???? ?????? ?? ?????
  ????? ?? ?? ??????? ?? ??????? ????? ??? ? ????
  ??? ??? ?? ??? ?????? ?? ??? ?? ???? ? ??????
  ?????? ? ????? ?? ?????? ?? ??? ???? ?? ??? ????
  ??? ?? ???? ????? ???? ????? ???.

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??????? VR

• 1910- ???????? ? ???? ??????? ? ????? ??????? (
  ???? ?????? ???????
• 1929- ????? ???? ?????? ??????????
• 1955- ????? ??? video based ? ?????? ?? ????
• ????? ??? 60 ??? ????? ????? ??? ????? ????????
• ????? ?????? ?????? ????? ???? ????? ?????
• ??? 70 ????? ?????? ??? ?? ???? ???? ???? ?
  ??????? ?? ?? ?? ????? ???? ???? ??? ?????????
  ????? ???????
• 1970 ????? ???? ??? ?????? ?? ??? ????? - ?????
  ?????
• 1983- HMD (Head Mounted Display )
• 1989- ?????? ?????? ????? ???? ????? ?????
• 1989- ???? HMD ??? ????? ???? VPL

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????? ??? VR ?? ?????

• Virtual Realisation
• Surface rendering of polygons - natural for
  graphics machines

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????? ??? VR ?? ?????

• Hybrid models - with texture mapping

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????? ??? VR ?? ?????

• Volume rendering - natural form for volumetric
  data
• ???? ??????? ?? ???? ??? ????
• ???? ?? ???? ? ???? ?????? ????

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????? ??? VR ?? ?????

• Modelling objects - first stage of adding meaning

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????? ??? VR ?? ?????

• e.g. registration of multiple sources
• When more than one image modality involved
  Registration Voxelman

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????? ??? VR ?? ?????

• Modelling behaviours - autonomous, interactive
  and predictive

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????? ????? VR

• ???? ??
• ???? ????? ???? ? ???? ???????? ?? ??
  ???? ?? ????? ?? ???. ??????? ??? ???? ??? ???? ?
  ???? ???? ? ??? ? ????? ????
• ???????? ??????? ?? ???? ? ?? ???? ????? ????.
• ??? ????? ???????
• ??? ?????? ???? ????? ????? ?? ???? ??
  ?????? ????? ?? ?? ??? ?? ?????? ? ?????? ?
  ?????? ????? ?? ????? ?? ??? ? ???? ?? ????? ??
  ???
• VRML ???? ??? ???? ?????? ????? VRML
  ?? ?? ???? V-R-M-L ?? Vermil ???? ?? ???? ???? ??
  ??????? ???? Virtual Reality Modeling Language
   ?? ???? ??? ???? ?????? ????? ???. ??? ???? ??
  ????? ?????? ????? ? ?????? ??? ??? ???? ?? ????
  ??? ?? ?? 1994 ???? ???? ???? 9 ?? ??????10 ?
  ????? ??11 ????? ??. ???? ?? ????? ???? ???
  ?????? ????????? ???? ?? ????? ?? ?????? ???? ???
  ???? ???? ????? ??????? ?? ???? ?????? ?? ??? ??
  ????? ?????? ?? ????? ???? ??? ??? ???? VRML???.

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• ???????? ????? ? ?????
• ??? ??????? ???? ???? ????? ?
  ????????????? ?? ???? ???  ????? ?? ????? ??
  HMD ?? ???? ?????? ???? ????? ?? ?? ?????? ??
  ????? .?????????? ?????????? ?????? ???? ?????
  ?????? ????? ??? ?? ?? ?? ??????? ???? ???? ?? ??
  ??? ????? ??? ??? ?? ?? ?? ????? ??? ?? ??? ???
  ????????? ????? ????? ????? ??? ?????? ????? .

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•   ? - ????? ??????? (Data Glove) ?? ????? ?? ??
  ????? ????? ?? ???? ? ?? ???? ???? ?? ???? . ??
  ??????? ???? ???? ????? ???? ???? ??????? ??????
  ?? ???????? ??? ??? ???? ??? ???? ?? ?? ????
  ?????? ?? ???? ????? ??? ????? ????? ?? ???? .??
  ????? ??????? ???? ????? ??????? (???? ?? ????
  ??? ????? ????? ?? ??? ???)????? ?? ?? ?????? ??
  ???? ?? ????? ????? ????? ?? ?? ??.

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????? ???? displays
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Force Feedback?????

• Rutgers University, Rutgers Master II
• Reads hand gestures (hand-master)
• Displays forces (haptic display)
• Four fingers in real time

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????? ???? ????? ?????

• joystick

Probe
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???? ??? ???

• Vibro- and Electro-tactile stimulation (simple
  surface texture)
• Micro-pin stimulation (complex surface textures,
  and edges)
• Pneumatic and force feedback (shape)

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????? ???? ?????? VR

• ???? ?????? ??? ?????? ????? ?? ?? ???? ?? 3
  ????? ??? ???? ???
• ? ???? ???? ???? ???? ?? ????? ???????? ??
  ????? ????? ???? ???. ??????? ????? ??????? ???
  ????? ????? ???? ????? ???? ???? ????? ???? ?????
  ?? ??????? ?? ??????? ????? ??? ???? ?????? ?????
  ? ? ???? ???? ?? ????? ???? ???? ???? ??????
  ????? ?? ???? ?? ??? ??????? ????? ?? ?? ????
  ???? ??????? ?? ???? ?????? ?? ???? ???? ??
  ?????? ????. ??? ???? ??? ????? ?? ?????? ???
  ??????????? ? ?????? ? ???? ????????? ????? ??
  ????? ????? ?? ????? ?? ?????? ??????? ????? ??
  ?? ???? ??? ?????? ? ???? ???? ??? ???????

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????????? ???? VR

• ? ??????? ??? ????? ???? ??????? ???? ?? ?????
  ??????????
• ? ??????? ??? ????? ?? ?????? ? ???????? ? ??? ??
  ??? ????? ??? ? ??????? ?? ?????? ????? ????
  ????????.
• ? ???? ???? ???? ????? ????? ? ????? ????????
  ?????? ???? ???? ????? ???? ? .
• ? ????? ?? ??? ??? ? ????? ????? ? ??????? ?
  ?????
• ? ???????? ? ????? ????????? ??????? ??????
  ????? ??? ???? ? ????? ??? ?????? ?????

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?????? ??????? ?? ???? ?????

• ?? ??? ???? ????? ????? ?????? ????? ?? ???.
• ?? ???? ????? ????? ????? ? ????? ???? ?????
  ????.
• ?????? ???? ??? - ?? ???? ?? ?? ?? ????? ??????
  ????? ?????? ????? ???.
• ???????? ????? ????? ?????? ??? ?????? ?? ???? ??
  ???? ?? ??????? ?? ?????? ??? ???? ????? ?? ?????
  ?????? ??????? ??? ??? ???? ? ?? ?????? ?? ???
  ??? ??? ?? ???? ????? ????? ????? ?? ?????? ????
  ??? ???? ???? ???? ????.

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?????? ??? ????? VR

• ???? ??? ?????? VR ?? ?????
• ????? Training
• ?????? ???? Planning
• ????? Treatment
• ?????? ??? ????
• ????? ?????
• ????? ??? ? ?????
• ?????????

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????? ?????

• ??????? ?? ????? ??? ????? ???? VR ??? ?????
  ???? ??????? ? ?????????

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????? ?????- ???? ?????? ?????
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?????? ???? ?????
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??????? ?? ?????? ?????? ?? ?????

• ?????? ?? ???? ????? ? ???? ?????

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?????? ?????? ??????? ??? ? ????? Neurosurgery

• Harvard Medical School
• Combined neurosurgery planning and augmented
  reality

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????Visualization

• ??????? North Carolina
• ????? VR ??? ????????? ?? ???? ?? ??? ????
• ??? ??? ?? ???????? ????? ?????????? ???? ?
  ????? ??????? ???
• ???? ??????? ?? check up ??? ????? ???????

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????????? ??????

• ???? ?? ????? optical ?? ???? ????? ????? ( ?????
  ? ???? ? ???? ? ????? ? ... ) ??? ??????
• ?????? ??? ????? ? ????? ????? ???? ? ???? ?? ???
  ???? ??? ????? ??? .
• ?????
• ????? ????? ????? ??? ???? ? semi invasive
• ??? ????? ???? ?? ?????? ??? ?????

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????????? ????? VE-

• ?????
• ??????????? 3D ?? ????? ???? ??? ( ?CT, MRI ?
  ... )
• ??? ?????? ????? 3D ( registeration ,
  interpolation )
• ?????? ????? 3D ??? ????? ??? ?????????
  (segmentation)
• ?????? ???? 3D camera- target ??? ??????
  ???????? ?? ???? ???? ??????
• ???????? ?????? ???? ?? ????
• ?????? ?? ????? ????? ???????
• (??? ? ??? )

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• ????? ??? ????? ??? ???? ???? ????? ????? ????
  ????? ? ????? ???? ? ????? ????? ? ????
• ????? ????? VE ?? ???? ?????? ????? ? ?? ???
  1995 ??????? ??.

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????? ? ????? VE

• ?????
• ??? ???? ??????? ????? ???? ?????? endoscope
• ????? ??? ??????
• ???? ???? ?? ????? ??????? ?????????
• ?????
• ????? ??? ????????? ????? ????? ????? ???????
  ????? ???? ??? ???? ????? ?? ?????? .
• ??????? VE
• Virtual colonoscopy (Vining, Kaufman)
• Carotid arteries (Lorensen)
• 3-D organ visualizations (Robb)
• Visualizations for stereotactic neurosurgery
  (Jolesz and Kikinis)

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??????? VE

• Virtual colonoscopy (Vining, Kaufman)
• Carotid arteries (Lorensen)
• 3-D organ visualizations (Robb)
• Visualizations for stereotactic neurosurgery
  (Jolesz and Kikinis)

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??? ????? ...

• ???? ??? ????? ????? ????? ??????????
• ???? ??? ????????? ?????
• ????? ????? ????? ????? ???? ?????? ??? ?? ?????
  ????? ?????

35
??? ????? ....

• ????? ???????? ????? ??????? ?????
• ???? ???? ????? ????? ??? ? ??????? ???? ??
• pushing ? pulling ????
• ???? ???? force feadback

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??? ???? ????
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?????? ???? ????? ?????

• ????? ??? ??? ???? ?? ????? ?? ????? ??????? ??
  ??????? ?? VR
• ????? ?????? ???? ??? ?? ???? 3D measurments
• ??????? ?? ?? ????? ?????? ???? ???? ?? ?????????
  ?????
• ?????? stereo ????? ????? ?? ?????? ?????????
  ????? ?????
• ? Virtual measure tape ?? ????? ?? ?????.
• ???? ????? ????? ??? ? ????? ?????? ???? ?????
  ????? ?? ????? ?? ?????.
• ????? ??? ?? 0.2 ??? 0.7 mm
• ??? ????? VR ??? ????
• VR Assisted Surgery Program (VRASP)

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?????? ???? ?????
39
???? ??? ????? ?? ? ????

• Erlangen Institute, Germany
• ?? ????? ?? ????? ??? ???? ????? ????? ?? ?????
  ???? ???????? ???
• ?? ??? ????? ????? ??? ????? ????? ??? ????? ??
  ????? ???? ????.

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??? ????? ????? ?? ? ????
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?????? ?????? ?? ????? Augmented Reality

• Julesz, Harward Medical School
• ?????? ?????? ?????? Augmented Reality ?? 3
  ????? ???? ?? ????
• 1- ???? ?? ???? ?? ??? ?? ?????
• 2- ??? ?? ???? ?????? ? ???? ??? ??? ??
• 3- ???? ????? ????? ?? ????? ( ??? ??? ?? ????? )

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?????? ?????????

• ??? ?? ?????? ? ????? ? ??????? ? ....
• ??? ????? ????? ??? ?? ???????? ????? ?? ??????
  ????? ?? ???? ?? ?? ???? ????? ? ??? ?????
  ???????? ????? ? ???? ??? ?? ?????? ?? ????? ?? ?
  ????? ????? ?????? ?????? ??? ?????

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?????? ?? Telesurgery

• Telesurgery is a telepresence application in
  medicine where the surgeon and the patient are at
  different locations
• The sketches below show the telesurgery concept
  currently under development at the Medical
  Robotics Lab at UC Berkeley

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????? ???? ??? ??? ?

• ????? ????? ?? virtual reality ??? ?? ????? ???
  ????? ????? ?????? ?? ???? ?????? ????? ?? ???? .
• ????? ??? ????? ???????? ????? force feedback
  ?? ????? ??? ????
• ????? ??? ??? ???? ???? ??? ???? ???? ????? ???
  ???
• ????? ??? ????? ?????
• ????? ????? ??? ????? ?? ??????????? ????? ??
  ???????? ?????? ????? ????? ? ????? ???????
  ??????
• ??????? ?? ???????? virtual reality ?? ?????????
  ????? ?? ??? ???

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???? ??? ???? ??? ?????? ?????

• http//www.irandoc.ac.ir/data/e_j/vol6/eini.htm
• http//en.wikipedia.org/wiki/Virtual_reality
• http//www.informatik.umu.se/jwworth/medpage.html
  
• http//www.vrlab.com/
• http//www.ahs.uic.edu/ahs/php/?sitenamevrml
• http//www.uic.edu/ahs/sbhis/vrml/Publications/pub
  licationsWebBasedSegment.htm