The view of the nasal cavity from the Endoscope. | 
The head mannequin used to house the haptic mechanism. | 
The Microscribe - a six degrees of freedom (6DOF) probe. | 
The Microscribe in action inside our head mannequin combined with real time volume display. |
1DOF haptic feedback device developed for needle insertion simulation. | 
Real time display of the bony structures of the nasal cavity, using the fuzzy voxel rendering algorithm and hardware texture mapping. | 
Real time cutting and deformations using solid texturing hardware. | 
Real time cutting and deformations using solid texturing hardware. |