<div dir="ltr">Hi Aparna,<div>              Glad to hear that you are are interested in iMSTK to develop your application. Please see below.<br><div class="gmail_extra"><br><div class="gmail_quote">On Tue, May 30, 2017 at 6:07 AM, Aparna Dutta <span dir="ltr"><<a href="mailto:aparna.dutta@merkelhaptics.com" target="_blank">aparna.dutta@merkelhaptics.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex"><u></u><div><div style="font-size:10pt;font-family:Verdana,Arial,Helvetica,sans-serif"><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial">Hello Dr. Arikatla,<br></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"><br></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial">I am Aparna Dutta, working at Merkel Haptic Systems, Chennai. Our company is a spin-off from IIT-Madras Touch Lab (<a href="https://apm.iitm.ac.in/biomedical/touchlab/" target="_blank">https://apm.iitm.ac.in/<wbr>biomedical/touchlab/</a>).<br></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial">We have developed a laparoscopy simulator hardware, and Professor Suvranu De suggested to Professor Manivannan that we try to use IMSTK to develop the software application.<br></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"><br></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial">We have downloaded and built the IMSTK package. On trying to integrate with our hardware, we have the following questions:</div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"><br></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial">1. Are there any simulations of FLS (Fundamentals of Laparoscopic Surgery) already implemented in IMSTK ? If so where can we find them ?<br></div></div></div></blockquote><div><br></div><div>Yes, we have been developing camera navigation <a href="https://vimeo.com/190792788">simulator</a> on iMSTK. We are closely working with Dr. De and SAGES to make this task part of virtual FLS that we are developing. We have it as an application code that uses iMSTK as a dependency. At this point we are finalizing the application for a validation study and is not openly acceable yet. The rest of the tasks (peg transfer, suturing, ligation and pattern cutting) were developed on a older framework from Dr. De's lab before we started on iMSTK. We are currently working to base those implementations into iMSTK.</div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex"><div><div style="font-size:10pt;font-family:Verdana,Arial,Helvetica,sans-serif"><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"><br></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial">2. On running the examples, only the scene loads but nothing happens. How do we get the example simulations to run ?<br></div></div></div></blockquote><div><br></div><div>The simulations in the examples are paused on start. The simulation can be started with 's' key and paused with spacebar. You can check VTKInteractorStyle class for more options. We will try to add more documentation to make this obvious to users in the future. Thanks.</div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex"><div><div style="font-size:10pt;font-family:Verdana,Arial,Helvetica,sans-serif"><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"><br></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial">3. The examples include interface with Phantom Omni. Can we also interface our own device with IMSTK ?<br></div></div></div></blockquote><div><br></div><div>We use <a href="https://github.com/vrpn/vrpn/wiki">VRPN</a> to interface with devices. But if a device is not supported, one can add custom device interface by deriving from the DeviceClient class. In fact, Phantom Omni interface classes are custom implemented in order to support cross-platform compatability. You can add interface classes to your hardware following HDAPIDeviceClient and HDAPIDeviceServer classes that we implemented for Phantom Omni. </div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex"><div><div style="font-size:10pt;font-family:Verdana,Arial,Helvetica,sans-serif"><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"><br></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial">4. How can we add haptic feedback in the simulation ?  <br></div></div></div></blockquote><div><br></div><div>When you implement your custom device client that I mentioned above, the run() method should call your device callback that communicates with your device (queries positions, orientations and sets forces). You can refer HDAPIDeviceClient::hapticCallback() for details. The actual forces  are only communicated to the device here and are computed elsewhere. </div><div><br></div><div><div>Once you have the implementation ready you can modify the testVirtualCoupling() example to test your code.</div></div><div><br></div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex"><div><div style="font-size:10pt;font-family:Verdana,Arial,Helvetica,sans-serif"><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"><br></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial">We would greatly appreciate it if you could clarify the above points and support us in our development. <br></div></div></div></blockquote><div><br></div><div><span style="white-space:pre">We </span>will be glad to work with you if you have further questions. Thanks. </div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex"><div><div style="font-size:10pt;font-family:Verdana,Arial,Helvetica,sans-serif"><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial"><br></div><div style="white-space:normal;color:rgb(0,0,0);font-family:Verdana,Arial,Helvetica,sans-serif;font-size:13.3333px;font-style:normal;font-variant-ligatures:normal;font-variant-caps:normal;font-weight:normal;letter-spacing:normal;text-align:start;text-indent:0px;text-transform:none;word-spacing:0px;background-color:rgb(255,255,255);text-decoration-style:initial;text-decoration-color:initial">Thanks and regards,<br></div><div id="gmail-m_-8237810181409022163"><div>Aparna Dutta<br></div><div>Chief Software Architect<br></div><div>Merkel Haptic Systems<br></div></div><div><br></div></div></div></blockquote></div><br><br clear="all"><div><br></div>-- <br><div class="gmail_signature"><div dir="ltr"><div><div dir="ltr"><div><div dir="ltr"><div><div dir="ltr"><div dir="ltr"><div dir="ltr"><div dir="ltr"><div dir="ltr"><div dir="ltr"><div dir="ltr">Sreekanth Arikatla, Ph.D.,</div><div dir="ltr">Senior R&D Engineer,</div><div dir="ltr"><a href="http://www.kitware.com" style="font-size:12.8px" target="_blank">Kitware, Inc.</a>, Carrboro, NC.<div><br></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div>
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