Image-based palpation simulation with soft tissue deformations using chainmail on the GPU

Abstract

Virtual reality surgery simulation can provide an environment for the safe training of medical interventions. In many of these interventions palpation of target organs is common to search for certain anatomical structures in a first step. We present a method for visuohaptic simulation with tissue deformation caused by palpation solely based on CT data of a patient. Generation of haptic force feedback involves a force parameter image based on distances to the patient’s skin and bone. To create a deformed version of the patient’s image data, the ChainMail method is applied; bone structures are considered to be undeformable. The simulation can be used to palpate the iliac crest and spinous processes for the preparation of a lumbar puncture or for palpation of the ribcage.