Contact Model for Haptic Medical Simulations

  • Guillaume Saupin
  • Christian Duriez
  • Stephane Cotin
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5104)


In surgery simulation, precise contact modeling is essential to obtain both realistic behavior and convincing haptic feedback. When instruments create deformations on soft tissues, they modify the boundary conditions of the models and will mainly modify their behavior. Yet, most recent work has focused on the more precise modeling of soft tissues while improving efficiency; but this effort is ruined if boundary conditions are ill-defined. In this paper, we propose a novel and very efficient approach for precise computation of the interaction between organs and instruments. The method includes an estimation of the contact compliance of the concerned zones of the organ and of the instrument. This compliance is put in a buffer and is the heart of the multithreaded local model used for haptics. Contact computation is then performed in both simulation and haptic loops. It follows unilateral formulation and allows realistic interactions on non-linear models simulated with stable implicit scheme of time integration. An iterative solver, initialized with the solution found in the simulation, allows for fast computation in the haptic loop. We obtain realistic and physical results for the simulation and stable haptic rendering.


Contact Force Contact Model Collision Detection Linear Complementarity Problem Force Feedback 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Allard, J., Cotin, S., Faure, F., Bensoussan, P.-J., Poyer, F., Duriez, C., Delingette, H., Grisoni, L.: Sofa an open source framework for medical simulation. In: Medicine Meets Virtual Reality (MMVR 15), Long Beach, USA (February 2007)Google Scholar
  2. 2.
    Anitescu, M., Potra, F., Stewart, D.: Time-stepping for three-dimentional rigid body dynamics. Computer Methods in Applied Mechanics and Engineering (177), 183–197 (1999)zbMATHCrossRefMathSciNetGoogle Scholar
  3. 3.
    Balaniuk, R.: A differential method for the haptic rendering of deformable objects. In: VRST 2006: Proceedings of the ACM symposium on Virtual reality software and technology, pp. 297–304. ACM, New York (2006)CrossRefGoogle Scholar
  4. 4.
    Barbagli, F., Salisbury, K., Prattichizzo, D.: Dynamic local models for stable multi-contact haptic interaction with deformable objects. Haptic Interfaces for Virtual Environment and Teleoperator Systems 2003, 109–116 (2003)Google Scholar
  5. 5.
    Duriez, C., Dubois, F., Kheddar, A., Andriot, C.: Realistic haptic rendering of interacting deformable objects in virtual environments. IEEE Transactions on Visualization and Computer Graphics 12(1), 36–47 (2006)CrossRefGoogle Scholar
  6. 6.
    Forest, C., Delingette, H., Ayache, N.: Surface contact and reaction force models for laparoscopic simulation. In: International Symposium on Medical Simulation (June 2004)Google Scholar
  7. 7.
    Galoppo, N., Otaduy, M.A., Mecklenburg, P., Gross, M., Lin, M.C.: Fast simulation of deformable models in contact using dynamic deformation textures. In: SCA 2006, Switzerland, pp. 73–82. Eurographics Association (2006)Google Scholar
  8. 8.
    Hauth, M., Straßer, W.: Corotational simulation of deformable solids. In: WSCG 2004, pp. 137–145 (2004)Google Scholar
  9. 9.
    Johnson, D., Willemsen, P., Cohen, E.: Six degree-of-freedom haptic rendering using spatialized normal cone search. IEEE Transactions on Visualization and Computer Graphics 11(6), 661–670 (2005)CrossRefGoogle Scholar
  10. 10.
    Mahvash, M., Hayward, V.: High-fidelity haptic synthesis of contact with deformable bodies. IEEE Computer Graphics and Applications 24(2), 48–55 (2004)CrossRefGoogle Scholar
  11. 11.
    Mendoza, C., Sundaraj, K., Laugier, C.: Faithfull force feedback in medical simulators. In: International Symposium in Experimental Robotics, vol. 8. Springer, Heidelberg (2002)Google Scholar
  12. 12.
    Meseure, P.: A physically based virtual environment dedicated to surgical simulation. In: Surgery Simulation and Soft Tissue Modeling (IS4TM), pp. 38–47 (June 2003)Google Scholar
  13. 13.
    Morin, S., Redon, S.: A force-feedback algorithm for adaptive articulated-body dynamics simulation. In: 2007 IEEE International Conference on Robotics and Automation, April 10-14, 2007, pp. 3245–3250 (2007)Google Scholar
  14. 14.
    Murty, K.: Linear Complementarity, Linear and Nonlinear Programming. Internet Edition (1997)Google Scholar
  15. 15.
    Pauly, M., Pai, D.K., Guibas, L.J.: Quasi-rigid objects in contact. In: SCA 2004, Switzerland, pp. 109–119. Eurographics Association (2004)Google Scholar
  16. 16.
    Picinbono, G., Lombardo, J.-C., Delingette, H., Ayache, N.: Improving realism of a surgery simulator: linear anisotropic elasticity, complex interactions and force extrapolation. Journal of Visualisation and Computer Animation 13(3), 147–167 (2002)zbMATHCrossRefGoogle Scholar
  17. 17.
    Zilles, C.B., Salisbury, J.K.: A constraint-based god-object method for haptic display. In: IEEE IROS 1995: Proceedings of the International Conference on Intelligent Robots and Systems, pp. 31–46 (1995)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Guillaume Saupin
    • 1
  • Christian Duriez
    • 2
  • Stephane Cotin
    • 2
  1. 1.CEAFontenay aux RosesFrance
  2. 2.INRIAUniversity of LilleFrance

Personalised recommendations