Simulation of Soft Tissue Deformation in Haptic Systems with Cellular Neural Networks

Nowadays, using of virtual reality in surgical training is taken consideration due to safety, reproducibility, lower cost and other benefits. The various presented method for virtual surgery have attempt to make it more real and also make it online. This paper presents a new methodology for the deformation of soft tissue by drawing an analogy between cellular neural network (CNN) and elastic and viscoelastic equations. Viscoelastic model has been resulted from collection between Navier-Cauchi equations and Kelvin-Voigt model. Furthermore, a haptic system for viscoelastic modeling of soft tissue deformation is presented. The displacement created at a point by external force is released throughout the tissue via the cellular neural network. Because this method needs to cubic meshing, a new meshing algorithm is designed that executed offline. Indeed a collision detection algorithm is used to detect collision between tool and cells that executed inside the main algorithm and force feedback using the force model provided by the neural network and the haptic interface. This algorithm is implemented on a 3d liver model and executed online.