Real-time visio-haptic interaction with static soft tissue model shaving geometric and material nonlinearity

TL;DR

This paper introduces a real-time visio-haptic simulation of a human liver model with complex nonlinear geometric and material properties, enhancing realism by using experimental pig liver data and a novel computational approach.

Contribution

It presents a new method combining pre-computation and interpolation for real-time interaction with a nonlinear finite element liver model without simplifying assumptions.

Findings

Deformation and force responses are significantly affected by material properties.

The approach enables realistic real-time visio-haptic interaction.

No prior assumptions about the model's complexity are needed.

Abstract

We propose a new approach allowing visio-haptic interaction with a FE model of a human liver having both non-linear geometric and material properties. The material properties used in the model are extracted from the experimental data of pig liver to make the simulations more realistic. Our computational approach consists of two main steps: a pre-computation of the configuration space of all possible deformation states of the model, followed by the interpolation of the precomputed data for the calculation of the reaction forces displayed to the user through a haptic device during the real-time interactions. No a priori assumptions or modeling simplifications about the mathematical complexity of the underlying soft tissue model, size and irregularity of the FE mesh are necessary. We show that deformation and force response of the liver in simulations are heavily influenced by the material model, boundary conditions, path of the loading and the type of function used for the interpolation of the pre-computed data.