Haptic Force Feedback with an Interaction Model between Multiple Deformable Objects for Surgical Simulations

This paper proposes an interaction model between multiple physically-based deformable objects. The model enables both accurate force feedback and visualization of surgical manipulations (like hold, push and move organs) while approaching the tissues of interest. Accurate force feedback improves surgical realism and enables exact simulation for diagnosis and procedural training. Interaction is represented by mutual iterative procedures of forcible displacement, calculation of deformation and conveyance of reaction force. The proposed model has been applied to a simulation where a manipulating point pushes a deformable object, which is in contact with a neighboring one, and the results assures that the advanced interaction model enables us to feel even the fine differences resulting from the physical behavior of neighboring organs.