Real-time surgery simulation with haptic feedback using finite elements

This article reports the ideas presented by Cotin, Delingette and Ayache (1996) for developing a real-time surgery simulation system, for the training of surgeons. This system allows the interaction with volumetric deformable models of organs, and provides visual and haptic feedback in real-time. The geometry of organs is acquired from medical images. The physical properties are based on linear elasticity, and deformations are computed with finite elements. A preprocessing technique allows real-time computation of deformations and forces. The method has been extended to introduce a nonlinear behaviour closer to the biomechanical behaviour of soft tissues, while preserving real-time. We present the basic principles of the approach and results obtained with our experimental system