On Multi-resolution Point-Based Haptic Rendering of Suture

  • Wen Shi
  • Shahram Payandeh
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6192)


In this paper we present a point based potential field mechanics model for suture interaction. We study extended models to represent suture behaviors such as bending, stretching, twisting, which can be used in haptic rendering of knotting and unknotting tasks. In this paper, one-dimensional single point-samples and adaptive point-samples are studied and compared. In the adaptive model description, we develop a novel LOD(Level of detail) and re-sampling method using fluid particle flow model. A multi-resolution suture model is constructed based on the proposed LOD. Experimental studies demonstrate the feasibility of our proposed model for knotting and unknotting of the suture and can offer an adaptive and stable modeling environment for both graphic and haptic rendering. In addition, through the tuning of several key parameters, different material behavior such as elasticity can be obtained.


point based potential field SPH(Smoothed Particle Hydrodynamic) fluid flow LOD(Level of Details) adaptive knotting unknotting 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Brown, J., Montgomery, K., Latombe, J.-C., Stephanides, M.: A microsurgery simulation system. In: Niessen, W.J., Viergever, M.A. (eds.) MICCAI 2001. LNCS, vol. 2208, p. 137. Springer, Heidelberg (2001)CrossRefGoogle Scholar
  2. 2.
    LeDuc, M., Payandeh, S., Dill, J.: Toward modeling of a suture task. In: Graphics Interface (GI), Halifax, Nova Scotia, pp. 273–279 (2003)Google Scholar
  3. 3.
    Shi, H.F., Payandeh, S.: Real-Time Knotting and Unknotting. In: IEEE International Conference on Robotic Automation (ICRA 2007), April 10-14, pp. 2570–2575 (2007)Google Scholar
  4. 4.
    Theetten, A., Grisoni, L., Andriot, C., Barsky, B.: Geometrically exact dynamic splines. Computer-Aided Design 40, 35–48 (2008)CrossRefGoogle Scholar
  5. 5.
    Lenoir, J., Meseure, P., Grisoni, L., Chaillou, C.: Surgical thread simulation. In: Modelling and Simulation for Computer-aided Medecine and Surgery (MS4CMS), Rocquencourt, INRIA, EDP Sciences, vol. 12, pp. 102–107 (November 2002)Google Scholar
  6. 6.
    Lenoir, J., Grisoni, l., Meseure, P.: Adaptive resolution of 1D mechanical B-spline. In: Proceedings of the 3rd International Conference on Computer Graphics and Interactive Techniques in Australasia and South East Asia, pp. 395–403 (2005)Google Scholar
  7. 7.
    Pai, D.: Strands: Interactive simulation of thin solids using cosserat models. In: Proceedings of EUROGRAPHICS 2002, Computer Graphics Forum, vol. 21(3) (September 2002)Google Scholar
  8. 8.
    Bertails, F., Audoly, B., Cani, M.-P., Querleux, B., Leroy, F., Lvque, J.-L.: Super-Helices for Predicting the Dynamics of Natural Hair. ACM Transactions on Graphics, Proceedings of the SIGGRAPH Conference (August 2006)Google Scholar
  9. 9.
    Bertails, F., Audoly, B., Querleux, B., Leroy, F., Lvque, J.-L., Cani, M.-P.: Predicting Natural Hair Shapes by Solving the Statics of Flexible Rods. In: EUROGRAPHICS 2005 (2005)Google Scholar
  10. 10.
    Grinspun, E., Krysl, P., Schroder, P.: CHARMS: A Simple Framework for Adaptive Simulation. In: Proceedings of the 29th Annual Conference on Computer Graphics and Interactive Techniques, pp. 281–290 (2002)Google Scholar
  11. 11.
    Spillmann, J., Teschner, M.: An Adaptive Contact Model for the Robust Simulation of Knots. In: EUROGRAPHICS 2008, vol. 27(2) (2008)Google Scholar
  12. 12.
    Tonnesen, D.: Spatially coupled particle system. In: SIGGRAPH 1992 Course 16 Notes: Particle System Modeling, Animation, and Physically Based Techniques, pp. 4.1–4.21 (1992)Google Scholar
  13. 13.
    Monaghan, J.J.: Smoothed Particle hydrodynamics. Annu. Rev. Astron. Physics 30, 543 (1992)CrossRefGoogle Scholar
  14. 14.
    Monaghan, J.J.: Simulating free surface flows with SPH. J. Comput. Phys. 110(2), 399–406 (1994)CrossRefzbMATHGoogle Scholar
  15. 15.
    Muller, M., Charypa, D., Gross, M.: Particle-based fluid simulation for interactive application. In: Eurographics/SIGGRAPH Symposium on Computer Animation, pp. 154–159 (2003)Google Scholar
  16. 16.
    Grisoni, L., Marchal, D.: High Performance generalized cylinders visualization. In: Proceedings of the Shape Modeling International 2003, SMI 2003 (2003)Google Scholar
  17. 17.
    Crowe, C.T., Roberson, J.A.: Engineering Fluid Mechanics. Houghton Mifflin Co., Boston (1975)zbMATHGoogle Scholar
  18. 18.
    Shi, W.: Point-Based suture simulation demo,

Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Wen Shi
    • 1
  • Shahram Payandeh
    • 1
  1. 1.Experimental Robotics and Graphics Laboratory, School of Engineering ScienceSimon Fraser UniversityBurnabyCanada

Personalised recommendations