Fast Collision Detection and Deformation of Soft Tissue in Virtual Surgery

2013 ◽  
Vol 380-384 ◽  
pp. 778-781
Author(s):  
Ling Ling Shi ◽  
Zhi Yuan Yan ◽  
Zhi Jiang Du
Keyword(s):  
Soft Tissue ◽  
Collision Detection ◽  
Surgical Instruments ◽  
Virtual Surgery ◽  
Surface Model ◽  
Sphere Model ◽  
Soft Tissue Deformation ◽  
Bounding Volume ◽  
Mass Spring ◽  
Fast Collision

In the virtual scene of robot assisted virtual surgery simulation system, the surgical instruments achieve complex motion following the haptic devices and the soft tissue deforms continuously under interaction forces. In order to meet the rapidity of collision detection, an algorithm based on changeable direction hull bounding volume hierarchy is proposed. Strategy of combining surface model with body model is developed for soft tissue deformation. Skeleton sphere model of soft tissue is built. Deformation can be achieved based on mass-spring theory after matching collision information with the skeleton sphere model. The experiments show that the proposed collision detection method implements faster speed compared with fixed direction hull algorithm and soft tissue deforms through combination of collision information with sphere model.

scholarly journals Integrating viscoelastic mass spring dampers into position-based dynamics to simulate soft tissue deformation in real time

2018 ◽  
Vol 5 (2) ◽  
pp. 171587 ◽  
Author(s):  
Lang Xu ◽  
Yuhua Lu ◽  
Qian Liu
Keyword(s):  
Soft Tissue ◽  
Real Time ◽  
Elastic Force ◽  
Virtual Surgery ◽  
Tissue Deformation ◽  
Soft Tissue Deformation ◽  
Spring Force ◽  
Stability And Accuracy ◽  
Mass Spring ◽  
Surgery Simulator

We propose a novel method to simulate soft tissue deformation for virtual surgery applications. The method considers the mechanical properties of soft tissue, such as its viscoelasticity, nonlinearity and incompressibility; its speed, stability and accuracy also meet the requirements for a surgery simulator. Modifying the traditional equation for mass spring dampers (MSD) introduces nonlinearity and viscoelasticity into the calculation of elastic force. Then, the elastic force is used in the constraint projection step for naturally reducing constraint potential. The node position is enforced by the combined spring force and constraint conservative force through Newton's second law. We conduct a comparison study of conventional MSD and position-based dynamics for our new integrating method. Our approach enables stable, fast and large step simulation by freely controlling visual effects based on nonlinearity, viscoelasticity and incompressibility. We implement a laparoscopic cholecystectomy simulator to demonstrate the practicality of our method, in which liver and gallbladder deformation can be simulated in real time. Our method is an appropriate choice for the development of real-time virtual surgery applications.

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.

An Improved Soft Tissue Deformation Simulation Model Based on Mass Spring

2020 ◽  
Author(s):  
Dongliang Tan ◽  
Jiashi Zhao ◽  
Weili Shi ◽  
Xingzhi Li ◽  
Huamin Yang ◽  
...  
Keyword(s):  
Soft Tissue ◽  
Simulation Model ◽  
Tissue Deformation ◽  
Soft Tissue Deformation ◽  
Model Based ◽  
Deformation Simulation ◽  
Mass Spring

DESIGN AND APPLICATION OF BOUNDING VOLUME HIERARCHY COLLISION DETECTION ALGORITHM BASED ON VIRTUAL SPHERE

2019 ◽  
Vol 19 (07) ◽  
pp. 1940044
Author(s):  
MONAN WANG ◽  
SHAOYONG CHEN ◽  
QIYOU YANG
Keyword(s):  
Collision Detection ◽  
Detection Efficiency ◽  
Vastus Lateralis ◽  
Detection Algorithm ◽  
Virtual Surgery ◽  
Vastus Lateralis Muscle ◽  
Detection Algorithms ◽  
Bounding Volume ◽  
High Detection Efficiency ◽  
Bounding Volume Hierarchy

The result of collision detection is closely related to the further deformation or cutting action of soft tissue. In order to further improve the efficiency and stability of collision detection, in this paper, a collision detection algorithm of bounding volume hierarchy based on virtual sphere was proposed. The proposed algorithm was validated and the results show that the detection efficiency of the bounding volume hierarchy algorithm based on virtual sphere is higher than that of the serial hybrid bounding volume hierarchy algorithm and the parallel hybrid bounding volume hierarchy algorithm. Different collision detection algorithms were tested and the results show that the collision detection algorithm based on virtual sphere has high detection efficiency and good stability. As the number of triangular patches increased, the advantage was more and more obvious. Finally, the proposed algorithm was applied to two large and medium-sized virtual scenes to implement the collision detection between the vastus lateralis muscle, thigh and surgical instrument. Based on the virtual sphere, the collision detection algorithm of bounding volume hierarchy can implement efficient and stable collision detection in a virtual surgery system. Meanwhile, the algorithm can be combined with other acceleration algorithms (such as the multithread acceleration algorithm) to further improve detection efficiency.

Volume Preserved Mass–Spring Model with Novel Constraints for Soft Tissue Deformation

2016 ◽  
Vol 20 (1) ◽  
pp. 268-280 ◽  
Author(s):  
Yuping Duan ◽  
Weimin Huang ◽  
Huibin Chang ◽  
Wenyu Chen ◽  
Jiayin Zhou ◽  
...  
Keyword(s):  
Soft Tissue ◽  
Tissue Deformation ◽  
Spring Model ◽  
Soft Tissue Deformation ◽  
Mass Spring Model ◽  
Mass Spring
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