A innovative model for feedback force in interaction with soft tissue during simulation of surgery

Abstract

To provide more realistic feedback force for training during surgery simulation, a novel model of interaction between a virtual surgical tool and surface of soft tissue was created based on experimental data. Using a self-designed device, normal contact force and tangential friction were tested. A generalized Kelvin-element was introduced to model the nonlinear and relaxation characteristics of the contact force. The parameters of the model were obtained by the least square curve fitting of experimental data. A surgical tool and deformable skin model were constructed in a virtual environment. Phantom Desktop interface allows the operator perceive the feedback force during interacting the virtual skin model. © 2013 Springer-Verlag.