Date of this Version
Medicine Meets Virtual Reality
A myriad of surgical tasks rely on puncturing tissue membranes (Fig. 1) and cutting through tissue mass. Properly training a practitioner for such tasks requires a simulator that can display both the graphical changes and the haptic forces of these deformations, punctures, and cutting actions. This paper documents our work to create a simulator that can model these effects in real time. Generating graphic and haptic output necessitates the use of a predictive model to track the tissue’s physical state. Many finite element methods (FEM) exist for computing tissue deformation (,). These methods often obtain accurate results, but they can be computationally intensive for complex models. Real-time tasks using this approach are often limited in their complexity and workspace domain due to the large computational overhead of FEM. The computer graphics community has developed a large range of methods for modeling deformable media , often trading complete physical accuracy for computational speedup. Casson and Laugier  outline a mass-spring mesh model based on these principles, but they do not explore its usage with haptic interaction. Gerovich et al.  detail a set of haptic interaction rules (Fig. 2) for one dimensional simulation of multi-layer deformable tissue, but they do not provide strategies for integrating this model with realistic graphic feedback.
This is the author's post-print version.
Romano, J., Safonova, A., & Kuchenbecker, K. J. (2008). Real-Time Graphic and Haptic Simulation of Deformable Tissue Puncture. Medicine Meets Virtual Reality, Retrieved from https://repository.upenn.edu/hms/203
Date Posted: 19 February 2016