Haptic Rendering Based On Meshless Algorithm For Virtual Surgery Simulation

Virtual Surgery Simulation system(VSSS) is a system which can simulate real surgery process. During virtual Surgery simulation, in order to give the users more realistic feeling, the better haptic rendering is needed, so this thesis adopted meshless algorithm which can avoid the shortcomings of the mesh algorithm such as spring-mass model and finite element model, this method does not need tetrahedron' subdivision during incision, and can add or remove the nodes easily, this algorithm is not only accurate, convenient and effective, but also stable. In order to confirm reality and effectiveness, this thesis used meshless algorithm to simulate the soft deformation during kidney surgery. The result of the simulation can make the people better feel the shape and physical properties.The work of this thesis can be divided into two parts generally, all of which are used in the virtual surgery simulation system. First, this thesis computed force feedback by few invariants of deformation tensor, in this way the force feedback can describe many complex material properties of the soft tissues, so the haptic rendering effect of simulation system based on it is much more realistic and reliable. Second, this thesis brought in microcosmic haptic rendering, which can help the users feel the texture structures on the surface and make the simulation more realistic.This thesis applied the research result to the kidney virtual surgery simulation system. By verification, the visual and haptic rending effects of the kidney virtual surgery simulation system are all very good, which achieves the requirements of a real-time system preliminarily.