A Hybrid Elastic Model allowing Real-Time Cutting, Deformations and Force-Feedback for Surgery Training and Simulation

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

1 EPIDAURE - Medical imaging and robotics

We propose three physical models based on linear elasticity theory and finite-element modeling that are well-suited for surgery simulation. The first model combines precomputed deformations to deform large size meshes in real-time, but cannot make any topological changes to the mesh. The second model is similar to the spring-mass models where volumetric deformations and cutting operations can be simulated on small meshes in real time. Finally, we have developped a third method, combining the previous two solutions into a hybrid model that simulates deformations and cutting on complex anatomical structures.

Mots clés: journal; simulation

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. A Hybrid Elastic Model allowing Real-Time Cutting, Deformations and Force-Feedback for Surgery Training and Simulation. The Visual Computer, 2000, 16 (8), pp.437--452. ⟨10.1007/PL00007215⟩. ⟨inria-00615105⟩