The Real-Time Haptic Simulation of a Biomedical Volumetric Object with Shape-Retaining Chain Linked Model

摘要: This paper presents a new model which computes the deformation and feedback force of high-resolution biomedical volumetric objects consisting hundreds thousands volume elements. The main difficulty in simulation these is to compute generate stable from within haptic update time (1 msec). In our model, springs are used order represent material properties elements cylinders activate corresponding according amount deformation. Unlike mass-spring have constraint conditions. calculated locally then propagated outward through object's as if chain pulled or pushed. deformed configuration internal potential energy that reflected user. simple nature allows much faster calculation deformable object than conventional (an FEM model). Experiments conducted with homogenous non-homogenous cubic human liver obtained CT data at rate 1000 Hz graphic 100 show can be utilized real-time rendering. We verify provides realistic feeling for user real comparative study.