Modeling of deformable objects in haptic rendering system for virtual reality

Deformable objects raise a complex combination of issues ranging from estimating mechanical parameters, solving large systems of differential equations, detecting collisions, modeling responses to collisions. The models for deformable objects should not only estimate the direction and the amount of deformation of each node but also the magnitude and direction of interaction forces that will be reflected to the user via a haptic device. To resolve these problems, we researched on the haptic rendering system for virtual reality and optimized modelling methods for deformable objects. This paper introduces the composition and applications of a haptic rendering system for virtual reality and two modelling methods: Mass-Spring model and finite element model, which are used to construct force-reflecting deformable objects for surgical simulation. The two models of human organs have been integrated into a haptic rendering system for virtual reality for surgical simulation. Based on the simulation results, the performances and the application prospects of the two models are analysed and discussed as conclusions.