An Integrated Suture Simulation System with Deformation Constraint Under A Suture Control Strategy

Abstract

Current research on suture simulation mainly focus on the construction of suture line, and existing suture simulation systems still need to be improved in terms of diversity, soft tissue effects, and stability. This paper presents an integrated liver suture surgery system composed of three consecutive suture circumstances, which is conducive to liver suture surgery training. The physically-based models used in this simulation are based on different mass-spring models regulated by a special constrained algorithm, which can improve the model accuracy, and stability by appropriately restraining the activity sphere of the surrounding mass nodes around the suture points. We also studied the kinematic model to update the status of suture points in real time, according to an external force exerted by the operators, which can sense synchronous force feedback in return as well. Moreover, in case that the sutured wounds tear open again, a suture control strategy is designed to ensure the stability of the whole suturing procedure. Several experiments are carried out to validate the model performance in terms of model accuracy, suture control effects, and comprehensive training effects. The experiment results show that the proposed models have realistic visual and haptic feedback, stable control on the suture, as well as good training effects as an integrated liver suture surgery system compared to other suture simulation systems which only simulate suture on a single kind of soft tissue.