An interaction model between multiple deformable objects for realistic haptic force feedback in surgical simulations

摘要

This paper proposes an interaction model between multiple physically-based deformable object. This model achieves both accurate force feedback and visualization of surgical manipulations (like hold, push and move organs) while approaching the tissues of interest. Accurate force feedback improves surgical realism and enables exact simulation for diagnosis and procedural training. Interaction is represented by mutual iterative procedures of forcible displacement, calculation of deformation and reaction force. The proposed model has been applied to a simulation where a manipulating point pushes a deformable object, which is in contact with a neighboring one, and the influence of interaction on haptic force feedback has been examined.