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Real-time surgery simulation with haptic feedback using finite elements

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2 Author(s)
Cotin, S. ; Epidaure Project, Inst. Nat. de Recherche en Inf. et Autom., Sophia-Antipolis, France ; Delingette, H.

This article reports the ideas presented by Cotin, Delingette and Ayache (1996) for developing a real-time surgery simulation system, for the training of surgeons. This system allows the interaction with volumetric deformable models of organs, and provides visual and haptic feedback in real-time. The geometry of organs is acquired from medical images. The physical properties are based on linear elasticity, and deformations are computed with finite elements. A preprocessing technique allows real-time computation of deformations and forces. The method has been extended to introduce a nonlinear behaviour closer to the biomechanical behaviour of soft tissues, while preserving real-time. We present the basic principles of the approach and results obtained with our experimental system

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998