scholarly journals A Novel Haptic Interactive Approach to Simulation of Surgery Cutting Based on Mesh and Meshless Models

2018 ◽  
Vol 2018 ◽  
pp. 1-16 ◽  
Author(s):  
Qiangqiang Cheng ◽  
Peter X. Liu ◽  
Pinhua Lai ◽  
Shaoping Xu ◽  
Yanni Zou
Keyword(s):  
Soft Tissue ◽  
Force Feedback ◽  
Stability And Convergence ◽  
Virtual Surgery ◽  
Surface Mesh ◽  
Surface Rendering ◽  
Interactive Approach ◽  
Soft Tissue Modelling ◽  
Essential Components ◽  
Cutting Model

In the present work, the majority of implemented virtual surgery simulation systems have been based on either a mesh or meshless strategy with regard to soft tissue modelling. To take full advantage of the mesh and meshless models, a novel coupled soft tissue cutting model is proposed. Specifically, the reconstructed virtual soft tissue consists of two essential components. One is associated with surface mesh that is convenient for surface rendering and the other with internal meshless point elements that is used to calculate the force feedback during cutting. To combine two components in a seamless way, virtual points are introduced. During the simulation of cutting, the Bezier curve is used to characterize smooth and vivid incision on the surface mesh. At the same time, the deformation of internal soft tissue caused by cutting operation can be treated as displacements of the internal point elements. Furthermore, we discussed and proved the stability and convergence of the proposed approach theoretically. The real biomechanical tests verified the validity of the introduced model. And the simulation experiments show that the proposed approach offers high computational efficiency and good visual effect, enabling cutting of soft tissue with high stability.

scholarly journals Deformation of Soft Tissue and Force Feedback Using the Smoothed Particle Hydrodynamics

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Xuemei Liu ◽  
Ruiyi Wang ◽  
Yunhua Li ◽  
Dongdong Song
Keyword(s):  
Soft Tissue ◽  
Smoothed Particle Hydrodynamics ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Viscoelastic Model ◽  
Meshfree Method ◽  
Virtual Surgery ◽  
Liver Model ◽  
Particle Hydrodynamics ◽  
Smoothed Particle

We study the deformation and haptic feedback of soft tissue in virtual surgery based on a liver model by using a force feedback device named PHANTOM OMNI developed by SensAble Company in USA. Although a significant amount of research efforts have been dedicated to simulating the behaviors of soft tissue and implementing force feedback, it is still a challenging problem. This paper introduces a kind of meshfree method for deformation simulation of soft tissue and force computation based on viscoelastic mechanical model and smoothed particle hydrodynamics (SPH). Firstly, viscoelastic model can present the mechanical characteristics of soft tissue which greatly promotes the realism. Secondly, SPH has features of meshless technique and self-adaption, which supply higher precision than methods based on meshes for force feedback computation. Finally, a SPH method based on dynamic interaction area is proposed to improve the real time performance of simulation. The results reveal that SPH methodology is suitable for simulating soft tissue deformation and force feedback calculation, and SPH based on dynamic local interaction area has a higher computational efficiency significantly compared with usual SPH. Our algorithm has a bright prospect in the area of virtual surgery.

A study of real-time simulation of liver of virtual surgical robot based on biologically position-based dynamic model

2021 ◽  
pp. 1-16
Author(s):  
Dan Luo ◽  
Yu Zhang ◽  
Jia Li ◽  
Jisheng Li
Keyword(s):  
Soft Tissue ◽  
Real Time ◽  
Surgical Instruments ◽  
Organic Polymer ◽  
Tetrahedral Mesh ◽  
Virtual Surgery ◽  
Constraint Force ◽  
Real Time Simulation ◽  
Time Simulation ◽  
Spring Force

Virtual surgery robot can accurately modeling of surgical instruments and human organs, and realistic simulation of various surgical phenomena such as deformation of organic tissues, surgery simulation system can provide operators with reusable virtual training and simulation environment. To meet the requirement of virtual surgery robot for the authenticity and real-time of soft tissue deformation and surgical simulation in liver surgery, a new method is proposed to simulate the deformation of soft tissue. This method combines the spring force, the external force of the system, and the constraint force produced by the constraint function of the position-based dynamics. Based on the position-based dynamics, an improved three-parameter mass-spring model is added. In the calculation of the elastic force, the nonlinearity and viscoelasticity of the soft tissue are introduced, and the joint force of the constraint projection process and the constraint force of the position-based dynamics is used to modify mass points movement. The method of position-based dynamics based on biological characteristics, not only considers the biomechanical properties of biological soft tissue as an organic polymer such as viscoelasticity, nonlinearity, and incompressibility but also retains the rapidity and stability of the position based dynamic method. Through the simulation data, the optimal side length of tetrahedral mesh in the improved three-parameter model is obtained, and the physical properties of the model are proved. The real-time simulation of the liver and other organs is completed by using the Geomagic touch force feedback device, which proves the practicability and effectiveness of this method.

Virtual Training System with Physical Viscoelastic Model and Blood Flow Simulation Based on a Range-Based SPH Method

2015 ◽  
Vol 25 ◽  
pp. 41-53 ◽  
Author(s):  
Yi Dong Bao ◽  
Dong Mei Wu
Keyword(s):  
Blood Flow ◽  
Soft Tissue ◽  
Flow Simulation ◽  
Training System ◽  
Sph Method ◽  
Viscoelastic Creep ◽  
Blood Flow Simulation ◽  
Tissue Cutting ◽  
Creep Characteristics ◽  
Cutting Model

A physical mesh-less soft tissue cutting model with the viscoelastic creep characteristics has been proposed in this paper. The model is composed of filled spheres which are connected by Kelvin structure, so as to realize the cutting with viscoelastic creep characteristics. Then, it is further compared with the mass spring model in order to verify the effectiveness of the model. Secondly, a range-based Smoothed Particle Hydrodynamics (SPH) method with variable smoothing length is proposed, in order to simulate the blood flow simulation effect in the virtual surgery training system. Finally, the two are combined to be applied to the kidney soft tissue cutting experiment in surgery trainings. Experiments show there is a significant improvement on the cutting and simulation effect in terms of the viscoelasticity of the soft tissue cutting and the pressure and viscous force of blood flow.

scholarly journals Using the PhysX engine for physics-based virtual surgery with force feedback

2009 ◽  
Vol 5 (3) ◽  
pp. 341-353 ◽  
Author(s):  
Anderson Maciel ◽  
Tansel Halic ◽  
Zhonghua Lu ◽  
Luciana P. Nedel ◽  
Suvranu De
Keyword(s):  
Force Feedback ◽  
Virtual Surgery

6-DOF Haptic Interface for Neurosurgical Simulation System

1999 ◽  
Author(s):  
Takeo Asano ◽  
Hiroshi Matsuzaki ◽  
Akito Saito ◽  
Yukihiko Furuhashi ◽  
Yuichiro Akatsuka ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Three Dimensional ◽  
Image Data ◽  
Simulation System ◽  
Haptic Interface ◽  
Virtual Object ◽  
Virtual Surgery ◽  
Surface Rendering ◽  
Three Dimensional Model ◽  
Head Surface

Abstract Practical use of medical simulation system with virtual reality technology is expected because of the learning of the operation procedure. We have therefore developed a neurosurgical simulation system for minimally invasive surgery. Our system is composed of PC and one or two haptic interfaces. Operator can pick up the region of interest to specify the disease portion from DICOM format image data, then three-dimensional model have made by volume and surface rendering with this data. In the next step, system estimates and indicates on CRT the minimally invasive path from the head surface to the disease target that was picked up beforehand by this system which retains healthy human’s three-dimensional atlas data. Finally, the operator can perform a virtual surgery operation by the haptic interface that has been connected to PC, and can cut off an exact or approximate portion of the disease. The operator can feel the resistance from this virtual object. This operation process can be recorded for medical doctors to review later.

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