Soft tissue simulation with bimanual force feedback

Soft tissue simulation with bimanual force feedback is one of the main research topics toward practical application of surgery simulation. A method for the simulation of soft object using Mass-Spring model is presented to deform human tissue in the bimanual haptic feedback environment. A multi-thread simulation framework is employed to support real-time force feedback calculation and the deformation of the soft object. Haptic force is calculated based on a hybrid physical/geometric model and is filtered before sent to the haptic device in order to get stable force feedback. Two experiments are carried out to evaluate real-time performance and stability. Finally, a preliminary example of application in human tissue simulation is introduced.

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