Elastically deformable 3D organs for haptic surgical simulation.
This paper describes a technique for incorporating real-time elastically deformable 3D organs in haptic surgical simulators. Our system is a physically based particle model utilizing a mass-springs-damper connectivity with an implicit predictor to speed up calculations during each time step. The solution involves repeated application of Newton's 2ndd Law of motion: F = ma using an implicit solver for numerically solving the differential equations.
Department of Computer Science School of Science, Millersville University, Millersville, PA 17551, USA. webster@cs.millersville.edu
Roger
R
Webster
Randy
R
Haluck
Rob
R
Ravenscroft
Betty
B
Mohler
Eric
E
Crouthamel
Tyson
T
Frack
Steve
S
Terlecki
Jeremy
J
Sheaffer
D001696:Biomechanical Phenomena; D003196:Computer Graphics; D003198:Computer Simulation; D003194:Computer-Assisted Instruction; D005246:Feedback; D006801:Humans; D021621:Imaging, Three-Dimensional; D019060:Minimally Invasive Surgical Procedures / Q000193:education*; D012985:Software Design; D014110:Touch; D014584:User-Computer Interface