A Study on Corotated Nonlinear Deformation Model for Simulating Soft Tissue Under Large Deformation

Abstract

In surgery simulators, a computationally efficient and geometrically nonlinear deformation simulation approach is required for soft tissue simulation. Especially, in the case of presenting haptic sensation to users, computational cost becomes a large problem because a higher update rate is required in stable haptic feedback. In this paper, we propose an interactive nonlinear soft tissue simulation approach using an adaptive and corotated deformation model. In the approach, computation of nonlinearity consideration and deformation simulation are performed at different suitable resolution of tetrahedral adaptive mesh. We also propose the criterion for subdivision and simplification in the adaptive and corotated deformation simulation. In evaluation experiments, we implemented the proposed approach into our surgery simulator, and we confirmed the computation time, the accuracy of deformations and the stability of reaction forces. We believe that this approach is also useful for haptic interaction with other elastic materials (e.g. jelly and rubber) under large deformation.