Advanced display technologies have made the virtual exploration of rel
atively complex models feasible in many applications. Unfortunately, o
nly a few human interfaces allow natural interaction with the environm
ent Moreover, in surgical applications, such realistic interaction req
uires real-time rendering of volumetric data-placing an overwhelming p
erformance burden on the system. We report on our advances towards dev
eloping a virtual reality system that provides intuitive interaction w
ith complex volume data by employing real-time realistic volume render
ing and convincing force feedback (haptic) sensations. We describe our
methods for real-time volume rendering, model deformation, interactio
n, and the haptic devices, and demonstrate the utilization of this sys
tem in the real-world application of Endoscopic Sinus Surgery (ESS) si
mulation. Copyright (C) 1996 Elsevier Science Ltd.