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Real-time Simulation of Soft Tissue in Virtual Environments Using a Haptic Interface

Heydari Kamarroudi, Mehdi | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 44255 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Meghdari, Ali
  7. Abstract:
  8. Surgical simulators present a safe, practical, and ethical method for surgical training. In order to enhance realism and provide the user with an immersive training experience, simulators should have the capability to provide haptic feedback to the user. Accurate modeling of the interaction between surgical instruments and organs has been recognized as a key requirement in the development surgical simulators. Researchers have attempted to model tool-tissue interactions in a wide variety of ways, which can be broadly classified as (1) continuum mechanics-based,(2) discrete elements-based methods.
    This thesis presents an improved model of static Long Elements Method (LEM), a new method for realtime, physically based, viscous simulation of deformable tissue. The method is based on a new meshing strategy, using long elements of fluid columns. Improved model includes two main parameters that determined after validating model with a pig’s liver experimental data . calibration of parameters carried out using min square of errors method. The model is implemented in a real-time soft tissue probing simulator with haptic interaction provided through the PHANTOM Omni haptic device. Our model’s equations compiled to Phantom Omni using Visual C++
  9. Keywords:
  10. Real-Time Simulation ; Soft Tissues ; Haptic Interface ; Viscoelastic Model

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