Real-time elastic deformations of soft tissues for surgery simulation

Stéphane Cotin (1) , Hervé Delingette (1) , Nicholas Ayache (1)

1 EPIDAURE - Medical imaging and robotics

We describe a novel method for surgery simulation including a volumetric model built from medical images and an elastic modeling of the deformations. The physical model is based on elasticity theory which suitably links the shape of deformable bodies and the forces associated with the deformation. A real time computation of the deformation is possible thanks to a preprocessing of elementary deformations derived from a finite element method. This method has been implemented in a system including a force feedback device and a collision detection algorithm. The simulator works in real time with a high resolution liver model

Mots clés: Surgery simulation; deformable models; real-time; force feedback; soft tissue modeling; finite element

Domaines: Imagerie médicale; Modélisation et simulation; Imagerie; Traitement du signal et de l'image [eess.SP]; Traitement du signal et de l'image [eess.SP]

Stéphane Cotin, Hervé Delingette, Nicholas Ayache. Real-time elastic deformations of soft tissues for surgery simulation. IEEE Transactions on Visualization and Computer Graphics, 1999, 5 (1), pp.62-73. ⟨10.1109/2945.764872⟩. ⟨inria-00615032⟩