Abstract
This article reports the ideas presented in (Cotin, Delingette, and Ayache 1996; Cotin, Delingette, and Ayache 1997) for developing a real-time surgery simulation system. This system allows the interaction with volumetric deformable models of organs, and provides visual and haptic feedback in real-time. The geometry of organs is acquired from medical images. The physical properties are based on linear elasticity, and deformations are computed with finite elements. A pre-processing technique allows real-time computation of deformations and forces. The method has been extended to introduce a non linear behavior closer to the biomechanical behavior of soft tissues, while preserving real-time. We present the basic principles of the approach and results obtained with our experimental system (figure 1).
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© 1998 Springer-Verlag London Limited
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Ayache, N., Cotin, S., Delingette, H. (1998). Surgery simulation with visual and haptic feedback. In: Shirai, Y., Hirose, S. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-1580-9_29
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DOI: https://doi.org/10.1007/978-1-4471-1580-9_29
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