Abstract
In this paper, we present a virtual tactile model with the physically based skeleton to simulate force and deformation between a rigid tool and the soft organ. When the virtual trachea is handled, a skeleton model suitable for interactive environments is established, which consists of ligament layers, cartilage rings and muscular bars. In this skeleton, the contact force goes through the ligament layer, and produces the load effects of the joints , which are connecting the ligament layer and cartilage rings. Due to the nonlinear shape deformation inside the local neighbourhood of a contact region, the RBF method is applied to modify the result of linear global shape deformation by adding the nonlinear effect inside. Users are able to handle the virtual trachea, and the results from the examples with the mechanical properties of the human trachea are given to demonstrate the effectiveness of the approach.
Highlights
Trachea surgery is still one of the most demanding fields in surgery to cure tumours, that is, one of the leading causes of death worldwide
Due to the complex shape and non-homogeneous material properties, we give some assumptions about human trachea model and restrict our study in this paper to the trachea model scenarios
The global shape deformation of the trachea model obtained from interpolating these displacements is smooth and satisfies that the closer a surface point to the contact point, the greater the deformation change is at this point [4]
Summary
Trachea surgery is still one of the most demanding fields in surgery to cure tumours, that is, one of the leading causes of death worldwide. The most challenging task in virtual trachea surgery is to build an efficient and real-time force/deformation model in the surgery simulation. High-quality feedback demands a high level of physical realism as well as a high update rate in rendering, which are often conflicting requirements. An alternative approach to physically based deformation modelling are spring-based methods, which model a deformable object as a collection of mesh nodes connected by springs in a mesh skeleton. In general the computations involved in spring models are relatively simple and easy to implement. The proposed approach is a physically based model more apt for modelling force and deformation under simple contact or multiple contact conditions. The paper presents a skeleton model to simulate the trachea deformation in virtual surgery and we discuss implementation and experimental results including the single finger contact
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