Hybrid Optimization-based Cutting Simulation for Soft Objects

Abstract

Cutting simulation for soft objects is a crucial technology in surgical simulators. The capabilities of a virtual surgery system are determined by the cutting efficiency and simulation performance. Taking both into full consideration, we present a real-time soft object cutting simulation method. The surface-volume model coupling a triangular mesh with a tetrahedral mesh is used as the geometric model. To drive deformable soft objects, we utilize position-based dynamics. The simulation incorporates a flexible progressive cutting technique that updates the topology and produces the cut surface simultaneously with the movement of the virtual scalpel. The incision’s tension and constraint are applied to the simulation steps, ensuring that the incision opens automatically and retains its shape without the need for complicated control. A hybrid optimization is performed to improve the cut mesh and reduce ill-conditioned sliver tetrahedrons while keeping the simulation in parallel. Experiments demonstrate that our method can provide stable and efficient soft object cuttings and the objects can maintain good performance in the subsequent simulation. Additionally, we apply the human slice data to generate real textures for the cut surface and employ a force feedback device to introduce the haptic effect, further enhancing the cutting simulation efficacy.