Volumetric Deformable Models for Simulation of Laparoscopic Surgery

Abstract

In this paper we present a method for solving both problems of force feedback and real time deformations of virtual organs, especially needed for surgical simulators. Our method is based on the linear elasticity theory with a preprocessing algorithm which entails real time performances. We have applied this technique to a liver model derived from a complete anatomical representation. 1 INTRODUCTION Minimally invasive surgical techniques offer surgeons a new perspective in the way operative procedures are performed. Although they can adapt to most of the differences with standard surgery (eye-hand coordination, 2D vision, etc.), it seems that an efficient training on a simulator could greatly enhance the control of surgical procedures. Nevertheless, whatever the quality of the simulation, an apprenticeship on animals or humans will probably remain unavoidable for years. That is the reason why we only focus on a simulator for gesture training, where a surgical procedure is broken d...