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INFORMATION TO USERS This manuscript has been reproduced from the microfilm master. UMI films the text directly from the original or copy submitted. Thus, some thesis and dissertation copies are in typewriter face, while others may be from any type of computer printer. The quality of this reproduction is dependent upon the quality of the copy submitted. Broken or indistinct print, colored or poor quality illustrations and photographs, print bleedthrough, substandard margins, and improper alignment can adversely affect reproduction. In the unlikely event that the author did not send UMI a complete manuscript and there are missing pages, these will be noted. Also, if unauthorized copyright material had to be removed, a note will indicate the deletion. Oversize materials (e.g., maps, drawings, charts) are reproduced by sectioning the original, beginning at the upper left-hand comer and continuing from left to right in equal sections with small overlaps. Each original is also photographed in one exposure and is included in reduced form at the back of the book. Photographs included in the original manuscript have been reproduced xerographically in this copy. Higher quality 6” x 9” black and white photographic prints are available for any photographs or illustrations appearing in this copy for an additional charge. Contact UMI directly to order. UMI A Bell & Howell Infonnation Company 300 North Zed) Road, Ann Arbor MI 48106-1346 USA 313/761-4700 800/521-0600 INTERACTIVE VOLUME RENDERING AND DEFORMATION FOR SURGERY SIMULATION DISSERTATION Presented in Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy in the Graduate School of The Ohio State University By David M. Reed, B.A., M.S. ***** The Ohio State University 1997 Dissertation Committee: Apprpved/by Dr. Roni Yagel, Adviser Dr. Richard Parent idviser Dr. Wayne Carlson Department of Computer and Information Science UMI Number: 9801768 Copyright 1997 by Reed, David Matthew All rights reserved. UMI Microform 9801768 Copyright 1997, by UMI Company. All rights reserved. This microform edition is protected against unauthorized copying under Title 17, United States Code. UMI 300 North Zeeb Road Ann Arbor, MI 48103 © Copyright by David M. Reed 1997 ABSTRACT In the past few years, interest in volumetric graphics techniques for many applications has increased. Until recently, computers were not powerful enough to support applications using volumetric data. Advances in computer hardware and new volumetric algorithms have made volumetric approaches attractive for many applications. Medical applications and scientific visualization are two areas that commonly use volumetric data because data is more naturally represented in these applications using volumes and volumes supports features that are not adequately handled by surface representations. This dissertation extends the fields of volume rendering and deformation to provide a framework for surgical simulation. A volumetric rendering algorithm that overcomes the depth sorting problem of irregular grids and takes advantage of polygon rendering hardware to produce images faster than existing algorithms is presented. A physically-based simulation method is presented that uses volumetric data to avoid the problems caused by surface representations. The method is fast, numerically stable, and supports varying material properties. The tenderer and simulation are integrated to provide a system for surgical simulation. As the processing power of computers continues to increase, the methods presented in this dissertation along with haptic feedback devices will provide usable surgery simulators within ten years. Ill Dedicated to my wife, Sherri. IV ACKNOWLEDGMENTS First, I would like to thank my adviser. Dr. Roni Yagel, for providing the encouragement, motivation, and countless hours of discussion that helped me complete this dissertation. Without his encouragement and help, this dissertation would never have been completed. I would also like to thank the following who contributed directly to a portion of this work: Asish Law, Po-Wen Shih, and Naeem Shareef. Asish provided many of the ideas for the early version of the tenderer and always pushed us to try one more technique to improve the algorithm. Po-Wen and Naeem provided the scientific data sets in a usable form for our algorithm. Don Stredney and Dennis Sessanna provided and segmented the medical data sets used for testing the simulation algorithm. I would like to thank Dr. Wayne Carlson, Steve May, and Pete Carswell who provided me the opportunity to work at ACCAD on a variety of graphics related projects. These experiences and the environment at ACCAD provided me with valuable experience. My initial interest in graphics was sparked by Dr. Richard Parent and Dr. Kikou Fujimura. I would like to thank Rick for originally serving as my advisor and continuing to support me even when my work steered me away from his specialty areas. During my years at OSU, I had numerous discussion about various graphic related and software engineering topics with a number of people. These discussions often sparked ideas and new levels of understanding. At the risk of leaving someone out, I would like to thank: Wayne Carlson, Pete Carswell, Roger Crawfis, Kikou Fujimura, Meg Geroch, Scott King, Yair Kurzion, Asish Law, Matt Lewis, Nathan Loofbourrow, Steve May, Raghu Machiraju, Torsten Moller, Klaus Mueller, Rick Parent, Kevin Rodgers, Ferdi Scheepers, Dennis Sessanna, Naeem Shareef, Po-Wen Shih, Karan Singh, Steve Spencer, Ken Supowit, Ed Swan, Lawson Wade, Raphael Wenger, and of course, Roni Yagel. Barb Heifer and Dennis Sessanna deserve special thanks for helping me generate the slides, images, and videos I needed for papers and conference presentations. Finally, I would like to thank my wife Sherri and my parents Allan and Rose Reed for their constant encouragement. Their encouragement enabled me to continue working and see the light at the end of the tunnel. VI VITA May 11, 1969 ....................................................Bom - Columbus, OH 1991 ...................................................................B.A.(Math, CS), Wittenberg University 1993 ...................................................................M.S. (CIS), The Ohio State University 1991-present.......................................................Graduate Teaching and Research Associate, The Ohio State University PUBLICATIONS [1] Larry A. Vitema, Robert D. Green, and David M. Reed. “RSM 1.0 User’s Guide: A Resupply Scheduler Using Integer Optimization,” NASA Technical Memorandum 104380, May 1991. [2] David M. Reed, Lawson Wade, Peter G. Carswell, and Wayne E. Carlson “Particle tracing in curvilinear grids,” in Visual Data Exploration and Analysis II, Georges G. Grinstein, Robert E Erbacher, Editors, Proc. SPDE 2410, pp. 120-128 (1995). [3] Roni Yagel, David M. Reed, Asish Law, Po-Wen Shih, and Naeem Shareef, “Hardware Assisted Volume Rendering of Unstructured Grids,” Proceedings 1996 Symposium on Volume Visualization, San Francisco, CA, October 1996, pp. 55-62. VII [4] John S. McDonald, M.D., Roni Yagel, Ph.D. Petra Schmalbrock, Ph.D., Don Stredney, David M. Reed, and Dennis Sessanna, “Visualization of Compression Neuropathes Through Volume Deformation”, Proceedings Medicine Meets Virtual Reality 1997 (MMVR’97). FIELDS OF STUDY Major Field: Computer and Information Science (Computer Graphics) Minor Field: Algorithms Minor Field: Parallel Computing Vlll TABLE OF CONTENTS Page Abstract ............................................................................................................................................ii Dedication...................................................................................................................................... iv Acknowledgments.........................................................................................................................v V ita................................................................................................................................................ vii List of T a b le s .............................................................................................................................. xii List of Figures ............................................................................................................................. xiii Chapters: 1. Introduction ......................................................................................................................... I I. I Volume R endering ............................................................................................... 4 1.2 Volume Deformation ............................................................................................. 6 1.3 Existing Methods ..................................................................................................7 1.4 New Solutions ...................................................................................................... Il 1.5 Overview of Dissertation.................................................................................. 12 2. Rendering and Deformation of Volumetric Data .......................................................13 2.1 Volume R endering ..............................................................................................14 2.1.1 Grid Taxonomy ......................................................................................17 2.1.2 Voxel Space M ethods ..........................................................................20