Enhanced deformation model with real-time haptic interaction

Efficient and precise deformation model is an important aspect in virtual surgery simulation. In this paper, a novel enhanced haptic model based on physics and 1/f noise superimposing orthogonal wavelet bases is proposed. A real-time haptic system using a Delta 6-DOF haptic device from Force Dimension was set up to simulate virtual soft tissue. Then medical surgical forceps were used to realize one-point and two-point dragging operations on a baby's belly. Experiment results show that the proposed computational model is simple and effective, the haptic feedbacks are smooth and the deformation effects are realistic, which demonstrates that the system is able to meet the real-time and stability requirements of virtual surgery simulation interactive system. It is expected that using the proposed system, the operator's perception and interaction with virtual environment are more accurate and realistic.