Real-time haptic model for soft tissue deformation in surgery simulation

The modelling and simulation of deformable objects is a challenging topic in the field of haptic rendering between human and virtual environment. In this paper, a novel and efficient layered rhombus-chain-connected haptic deformation model based on physics is proposed for an excellent haptic rendering. During the modelling, the accumulation of relative displacements in every chain structure unit in each layer is equal to the deformation on the virtual object surface, and the resultant force of corresponding springs is equivalent to the external force. The layered rhombus-chain-con- nected model is convenient and fast to calculate, and can satisfy real-time requirement due to its simple nature. Simulation experiments in virtual human liver based on the proposed model are con- ducted, and the results demonstrate that our model provides stable and realistic haptic feeling in real time. Meanwhile, the display result is vivid.