Dynamic force feedback in a virtual knee palpation.

A virtual model of a knee joint with muscles, ligaments and bones has been developed. This model includes realistic 3-D surface deformation and tissue stiffnesses. Tissue and bone deformation (palpation) produces real time force feedback to the user hand wearing a DataGlove and Rutgers Master. Collision detection algorithms determine when and where the virtual hand palpates the surface model. This user interaction with the muscles and bones of a human knee model may be used as a training and planning tool for knee surgery.