1. An Introduction to Virtual Reality
Iman Mohammad Rezazadeh
School of Biomedical Engineering
Science and Research Branch
Islamic Azad University
Spring 2010

2. Virtual Environment (VE)
A computer generated world with which the user can interact
Interaction can vary from looking around to interactively modifying the world.
Virtual Reality

3. Virtual Reality What is virtual reality(VR)?
A computer generated,immersive
(or wide field),multi-sensory information
program which tracks a user in real
time.
Virtual Reality

4. Person(s) Responsible
History
Year
Person(s) Responsible
Why it was important
1965
Ivan Sutherland
The beginnings of VR
1977
Dan Sandin, Richard Sayre and Thomas Defanti
Interaction through body movement
1982
Bonnie MacBird (Writer)
The first computer- generated movie
1983
Myron Krueger
First virtual environment
1984
William Gibson (His assistant)
The term 'Cyberspace'
1987
Michael Piller (Writer)
The Holodeck, idea of immersive VR
1992
Stephen King (Official Website)
A look at the possible negative side of VR
1995
Silicon Graphics
Virtual Reality Modeling Language
1999
Larry and Andy Wachowski
Virtual Reality movie grosses $750M worldwide
Virtual Reality

5. Types Virtual Reality Immersive Augmented Text-based Video Mapping
Desktop (Window on a World)
Video Mapping
Virtual Reality

6. Computer Graphics vs. VR
CG is concerned with the modeling, lighting and dynamics of environments and in general how to build a medium – so forth called Virtual World.
But, designing a VE is something beyond designing a CG.
When we become concern about how people experience the simulated environment, (re)act within it and interact with its components through the designed human-machine interface (HMI), we are talking about VE or VR

7. What is Immersive VR? Virtual Reality
A type of VR in which the user becomes immersed (deeply involved) in a virtual world. it is also a form of VR that uses computer related components.
Virtual Reality

8. Types of Non-immersive VR
Text-based VR: when a reader of a certain text form a mental model of this virtual world in their head from the description of people , places and things.
Augmented VR: the idea of taking what is real and adding to it in some way so that user obtains more information from their environment.
Virtual Reality

9. Applications Virtual Reality Architecture Training Medicine
Engineering and Design
E-Commerce
Entertainment
Manufacturing
Virtual Reality

10. Devices Virtual Reality Head Mounted Displays (HMD):
was the first device providing its wearer with an immersive experience. Evans and Sutherland demonstrated a head- mounted stereo display already in 1965.
Virtual Reality

11. 3D VIDEO Eyewear Virtual Reality
winner of a 2005 & 2006 Consumer Electronics Show Design Award.
VR Price: $499.00
Virtual Reality

12. Binocular Omni-Orientation Monitor (BOOM)
BOOM is a head coupled stereoscopic display device. Screens and optical system are housed in a box that is attached to a multi-link arm.
Virtual Reality

13. VR… VE…

14. AR in teleconferencing
person works at real desk
remote collaborator represented by picture or video or “talking head”
objects of discussion; e.g. a patient’s brain image, might also be fused into visual field
HOW IS THIS ACHIEVED?
From University of Washington HIT Lab

15. Cave Automatic Virtual Environment (CAVE)
A room with projections on all walls, floor and ceiling
The users wear shutter glasses to get a 3D view of the world.
The users are able to move and control the environment with some kind of input mechanism
Camera
Device in hand
Virtual Reality

16. Bam and its Cultural Landscape
After the earthquake of the 26th December 2003 and the immense destruction of the Bam heritage in Iran, the reconstruction of the ruins especially of the citadel of Bam has become an important task for experts.
first phase of the project were to develop the 3Dimensional models of 7 case studies inside the citadel of Bam (Main gate,Bazaar,Tekkiyeh (religious plaza), Mosque, Sistani house, barrack, stable, four season reception room
Virtual Reality

17. Cont….
The team of drawing the 3D models consisting of in Japan from Waseda University and the team of Raaz Ahang architectural firm in Iran from University of Tehran has made a tremendous effort to build the 3D models.
Virtual Reality

18. Virtual Reality

19. Virtual Reality

20. Virtual Reality

21. Virtual Reality

22. Virtual Reality

23. How about… learning to hang-glide?

24. I’m more of the down to earth type...
How about
learning to
drive a car? ©

25. Hey, that wasn’t there a moment ago...
Things are easy
with VR.
Real Estate Agents
use it every day. ©

26. ...And Architects love it! Wait till you Walk through!©

27. At last… something real.
Sorry…
That’s VR
too. ©

28. Ahh...
It goes here. ©

29. Princeton Video Wall

30. Augmented Reality

31. A nice Little AR

32. Share Virtual Environment You are a Avatar!!!! Wow…

33. Classroom is a VE
Virtual Reality

34. VR CAVE

35. VR Workbench

36. Norman’s Affordances Affordances:
Have perceived properties that may or may not exist
Have suggestions or clues about to how to use these properties
Can be dependent on the
Experience
Knowledge
Culture of the actor
Can make an action easy or difficult
From McGrenere & Ho, Proc of Graphics Interfaces, 2000

37. Affordances of a Teapot?

38. Slide adapted from Saul Greenberg

39. Real vs. Perceived Affordances
In product design, where one deals with real, physical objects, there can be both real and perceived affordances, and the two need not be the same.

40. Slide adapted from Saul Greenberg

41. Transfer Effects
People transfer their expectations from familiar objects to similar new ones
positive transfer: previous experience applies to new situation
negative transfer: previous experience conflicts with new situation
Based on slide by Saul Greenberg

42. Cultural Associations
Groups of people learn idioms
red = danger, green = go
But these differ in different places
Light switches
America: down is off
Britain: down is on
Faucets
America: counter-clockwise is on
Britain: counter-clockwise is off
Based on slide by Saul Greenberg

43. VR and Cognition

44. VR in Medicine

45. I think I’m feeling ill. Well, that’s not a problem. We’ll find a
cure with the
Virtual
patient... ©

46. …now I’m sure I am. …in our virtual hospital. Why not?©

47. Virtual Body vs. Cadaver
Training on cadavers has several drawbacks:
if trainee cuts a nerve or a blood vessel in a cadaver nothing will happen
no action can be reversed on cadavers (what is cut is cut)
dead tissue is harder, color is changed, arteries do not pulsate
Advantages of computer simulations:
procedures can be repeated many times with no damage to virtual body
virtual body does not have to be dead - many functions can be simulated for realistic visualizations
organs can be made transparent and modeled

48. VR in Endoscopy

49. Virtual Fighting and Rehab.

50. VR in Endoscopy

51. VR in Endoscopy

52. endoScope - A VR Tool
EndoScope is a Motif/Inventor based model viewer that runs on SGI workstations
Developed by Biomedical Imaging Resource at Mayo Clinic

53. VR in Colonoscopy

54. VR in Laparoscopy

55. VR in Laparoscopy

56. MIS Training at EPFL
Group for surgical robotics and instrumentation, Swiss
Gastro-intestinal organ modeled and tissue properties simulated (pushing, pulling)
Force feedback generated for realistic simulation

57. Laparoscopic Interfaces
Immersion Corp. devices for minimally invasive surgery simulators
Offers tracking in 5 degrees of freedom (left-right, up-down, in-out, rotation around axis, open-close)
Version with and without force- feedback are available
Price range: up to $8,000

58. 3-D Stereo Visualization
Univ. of Illinois Chicago, School of Biomedical and Health Information Sciences
ImmersaDesk system for temporal bone visualization

59. Fetus Visualization Univ. of North Carolina at Chapel Hill
A VR system is developed for visualization of a fetus in a pregnant woman’s abdomen
The ultrasound image of the fetus is superimposed on the video image of the woman’s abdomen
The system can be used for pregnancy check-ups

60. Fraunhofer Institute Simulators
Fraunhofer Institute medical training simulators
The arthroscopy training simulator
Nasal endoscopy simulator
The trainee is able to practice techniques before facing a real patient

61. Eye Surgery Simulator
Interactive Media Technology Center at Georgia Tech
Eye surgery simulator for:
education and training of medical students
training of surgeons to cope with emergencies
Simulator provides force feedback information for more realistic simulation of tissue cutting
Simulation of the tissue includes elasticity of the eye surface tissue before a cut is made

62. Craniofacial Surgery Simulation
Erlangen Institute, Germany
In craniofacial surgery it is important to plan and predict the outcome of surgical intervention
The face can be visualized after reconstructive plastic surgery

63. Augmented Reality for Surgery
Julesz, Harward Medical School
Augmented reality visualization has three phases:
1. 3D laser scanning of the patient’s head surface
2. 3D registration of the scanned and imaged surface
3. Augmented reality display of tumor (green)

64. Augmented Reality in Neurosurgery
Harvard Medical School
Combined neurosurgery planning and augmented reality

65. Phobia Projects
GA Tech GVU Center Virtual Reality Exposure Therapy project
Demonstrated effectiveness
Advantages:
cost effective
effective therapy
patient acceptance
suitable for network delivery (telemedicine)

66. Spider Phobia Desensitization
Univ. of Washington Human Interface Technology Lab
VE environment designed that contains virtual spiders (a large brown spider with fur and a small one were used
Patients are encouraged to pick up spiders with their virtual hands
Spiders are unexpectedly dropped of the ceiling, patient could pull the spider legs off

67. Acrophobia Project Univ. of Michigan
Balcony view from high floors are generated
The patient gradually watches the environment from higher and higher viewpoints
A multi-session therapy cures the acrophobia patient

68. Medical Education at UCSD
UCSD Applied Technologies Lab project on VR-multimedia system for education of medical students (anatomy)
UCSD Virtual Anatomy World
Anatomic structures are linked to supporting multimedia contents to provide VR-MM anatomy lessons

69. Medical Education at Fraunhofer Institute
Virtual anatomy system for medical students
Virtual patient
Students are able to understand complex interrelationships of anatomical structures

70. Remote Palpation Simulator
Interactive Technology Media Center at Georgia Tech
The idea is to allow doctors to examine patients at a remote location
IMTC developed a haptic lens - a sensor that measures 3D surface under a specific pressure
The device is pressed against an object and 3D surfaces, deformed under the pressure, are recorded in real-time

71. OK! OK ! No Military Use Ankle Therapy

72. Medical Robotics

73. Information flow in CIS
Introduction(2)
CIS
Information flow in CIS

74. Motivation:
Started with the weaknesses and strengths of minimally invasive surgery (MIS)
Smaller incisions, shorter post-operative time, reduced infection, faster rehabilitation, lesser pain, better cosmetics, ...
Eye-hand coordination, difficulty in moving arms, degree of motion

75. Classification
Depending on the degree of surgeon interaction during the procedure:
Supervisory-controlled;
Telesurgical;
Shared-control;

76. Application of Medical Robotics
Telesurgery
Surgeon sits at a console
Has controls to move the robotic arms
Does not operate on the patient directly
Mainly used in minimally invasive surgeries

77. Application of Medical Robotics
Telemedicine and Teleconsultation
Telecommunciation channels to communicate with other physicians/patients
Control an external camera which in turn controls an endoscopic camera – used to share images with a remote surgeon

78. Application of Medical Robotics
Rehabilitation
Assistive robots
Wheelchair with intelligent navigational control system

79. Application of Medical Robotics
Remote surgery
Surgeon can be anywhere in the world
Remotely controls the robotic surgical system
Very useful for treating wounded people in battlefields

80. Application of Medical Robotics
Laparoscopic Surgery
Performed in the abdominal cavity using MIS
Abdomen cavity is expanded using CO2
Uses Laparoscopic instrument
Fiber optic channels to illuminate the inside of abdominal cavity
Lens optics to transmit image
CCD camera at the outer end
Image displayed on high resolution TV

81. Design of Robotic Telesurgery
The Concept
Telesurgical system concept

82. Existing surgical systems
Da Vinci Surgical® system by Intuitive Surgical, Inc.

83. Existing surgical systems
Da Vinci Surgical® system by Intuitive Surgical, Inc.

85. VR in Brain Computer Interface

86. VR in BCI

87. Monitoring Driver’s Alterness

88. VR, BCI, Imagination

89. My Office in Future

90. The End of the Beginning
Surgery Planning and Simulation
Rehabilitation and Empowering
Mind Engineering
Neurofeedback and Biofeedback
Mixed Reality
Real Virtuality
Pervasive computing
Ubiquitous computing ©

91. Invitation for Contribution
"Mixed Reality and Human-Robot Interaction” Springer

92. What we are doing in IAU Virtual Upper limb and Lower Limb Rehab.
Mind Engineering and Neurofeedback
(CARTEME)
Collaborative Interfacing
Affective Computing