The Real-Time Haptic Simulation of a Biomedical Volumetric Object with Shape-Retaining Chain Linked Model

This paper presents a new model which computes the deformation and the feedback force of high-resolution biomedical volumetric objects consisting of hundreds of thousands of volume elements. The main difficulty in the simulation of these high-resolution volumetric objects is to compute and generate stable feedback force from the objects within a haptic update time (1 msec). In our model, springs are used in order to represent material properties of volume elements and cylinders are used to activate corresponding springs according to the amount of deformation. Unlike in a mass-spring model, springs in our model have constraint conditions. In our model, the deformation is calculated locally and then is propagated outward through object's volume as if a chain is pulled or pushed. The deformed configuration is then used to compute the object's internal potential energy that is reflected to the user. The simple nature of our model allows the much faster calculation of the deformation and the feedback force from the volumetric deformable object than the conventional model (an FEM or a mass-spring model). Experiments are conducted with homogenous and non-homogenous volumetric cubic objects and a volumetric human liver model obtained from CT data at a haptic update rate of 1000 Hz and a graphic update rate of 100 Hz to show that our model can be utilized in the real-time volume haptic rendering. We verify that our model provides a realistic haptic feeling for the user in real time through comparative study.