Point-based visuo-haptic simulation of multi-organ for virtual surgery

Background and Objectives: Realistically and efficiently simulating dynamic behavior of human organs under interactions is crucial for the immersive user experience of the surgical simulator. Conventional methods are time-consuming to simulate this phenomenon due to topological modifications. Materials and Methods: This paper proposes a robust and efficient point-based framework for surgical simulation, allowing realistically simulating mechanical response of human organs under interactions with visual and tactile feedback. Considering the inevitable topological modifications occurred in surgical simulation, we adopt sparse point cloud to model the mechanics of deformable bodies while employ surface mesh to represent morphological details of human organ, which can not only disconnect mechanical complexity from geometrical details, but also enable precise boundary conditions to be solved with surface mesh. Results: We validate our method on a variety of challenging surgical scenarios, and the results demonstrate that our method can realistically and efficiently provide the visuo-haptic feedback for surgical simulation. Conclusions: Our method can well tackle the inefficiency limitation of mesh-based methods related to topological modifications issue, and has great potential to be adopted in practical surgical simulators.