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Constraint-Based Soft Tissue Simulation for Virtual Surgical Training
Tang, W. Wan, Tao Ruan
Tang, W.
Wan, Tao Ruan
Publication Date
2014
End of Embargo
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© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Peer-Reviewed
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Open Access status
openAccess
Accepted for publication
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Additional title
Abstract
Most of surgical simulators employ a linear elastic
model to simulate soft tissue material properties due to its computational
efficiency and the simplicity. However, soft tissues often
have elaborate nonlinearmaterial characteristics. Most prominently,
soft tissues are soft and compliant to small strains, but after
initial deformations they are very resistant to further deformations
even under large forces. Such material characteristic is referred as
the nonlinear material incompliant which is computationally expensive
and numerically difficult to simulate. This paper presents a
constraint-based finite-element algorithm to simulate the nonlinear
incompliant tissue materials efficiently for interactive simulation
applications such as virtual surgery. Firstly, the proposed algorithm
models the material stiffness behavior of soft tissues with a
set of 3-D strain limit constraints on deformation strain tensors.
By enforcing a large number of geometric constraints to achieve
the material stiffness, the algorithm reduces the task of solving
stiff equations of motion with a general numerical solver to iteratively
resolving a set of constraints with a nonlinear Gauss–Seidel
iterative process. Secondly, as a Gauss–Seidel method processes
constraints individually, in order to speed up the global convergence
of the large constrained system, a multiresolution hierarchy
structure is also used to accelerate the computation significantly,
making interactive simulations possible at a high level of details .
Finally, this paper also presents a simple-to-build data acquisition
system to validate simulation results with ex vivo tissue measurements.
An interactive virtual reality-based simulation system is
also demonstrated.
Version
Accepted manuscript
Citation
Tang W and Wan TR (2014) Constraint-Based Soft Tissue Simulation for Virtual
Surgical Training. IEEE Transactions on Biomedical Engineering. 61(11): 2698-2706
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Article