Haptic Simulation System for Liver Surgery Based on Variable Virtual Stiffness Optimization

This paper presents a haptic simulation system for liver surgery based on variable virtual stiffness and nonlinear optimization. The penetration depth between two intersecting geometric models is calculated by using the linear projection technology based on configuration contact space and Minkowski sum method. The translational and rotational rigid motion are identified by introducing the linear 6D space distance measure. It can be used to calculate the interaction force of geometric models with various complexity efficiently, and meet the refresh rate requirements of tactile feedback device. By introducing the tactile feedback system design of variable virtual stiffness nonlinear optimization, the stable interactive operation of rigid body model haptic simulation can be well fulfilled. The experimental results show that the proposed algorithm can be stably and effectively applied to the liver surgical simulation in the medical field.