Real-time soft material volume deformaton using shape retaining chain linked model

Many medical training systems have been developed for surgeons. In these training systems, both graphic rendering and haptic rendering are important for enhancing realistic perception of the virtual environment. We present the shape-retaining chain linked model (or S-chain model), which allows for fast and realistic deformation of elastic objects. Furthermore, we incorporate spring and frictionless cylinder into the proposed shape-retaining chain linked representation in order to develop a fast and realistic volumetric haptic model. S-chain model, a new haptic model based on original 3D ChailMail, is more suitable for real-time volume haptic rendering than a mass-spring model (lumped parameter model) or a FEM model (continuum model) due to its less computational burden. We simulated both homogeneous and nonhomogeneous elastic objects of size 50x50x50 volume elements and were able to verify realtime and realistic haptic interaction with PHANToM haptic device.