Robot surgery simulation system for soft tissue cutting

Abstract

This paper presents a robot surgery simulation system for soft tissue cutting. Tetrahedron is used to construct the geometric model of soft tissue. An improved cutting algorithm based on minimal subset method is proposed. Splitting divisive issue in the minimal subset method is solved. By amending the relative position between the edge/surface intersection and the vertex during cutting, the emergence of small and narrow triangular surface and tetrahedral could be prevented. Hence enhance the stability of tetrahedral. GPU technology is implied for real time simulation. The performances of the computer simulation system are demonstrated with haptic device. © 2013 Springer-Verlag Berlin Heidelberg.