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Real-Time Dynamic Simulation and 3D Interaction of Biological Tissue: Application to Medical Simulators

Kenneth Sundaraj 1
1 SHARP - Automatic Programming and Decisional Systems in Robotics
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : The advent of medical imaging and new operating techniques has revolutionized the working methods of medical professionals. This change requires physicians and surgeons to undergo additional training. This is why the development of appropriate tools, like medical simulators, is of paramount importance. Within this context, we focus our work on physical modeling of soft tissue deformations and collision detection in virtual environments. First, we present various physical models and the numerical resolution methods associated with deformable objects. We then propose a new model developed for soft tissue simulation, by successively presenting the aspects related to the formulation of the model, the resolution of the model, and the treatment of the physical interactions. This model, based on Pascal's principle, allows us in a relatively simple way to represent biological tissue, thus making it possible for interactive simulation. Next, we present various existing algorithms for collision detection, as well as the difficulty in adapting these algorithms in medical simulators where complex deformable objects form the base of the simulated environment. We then propose the algorithms developed in our work to deal with this problem within the framework of the medical simulators. These algorithms have better numerical robustness and are optimized, allowing us to treat deformable bodies effectively. We apply our results within the framework of an echographic simulator of the human thigh and a simulator for the arthroscopic reconstruction of the ACL (anterior cruciate ligament of the knee).
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Submitted on : Monday, March 1, 2004 - 11:52:33 AM
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Kenneth Sundaraj. Real-Time Dynamic Simulation and 3D Interaction of Biological Tissue: Application to Medical Simulators. Other [cs.OH]. Institut National Polytechnique de Grenoble - INPG, 2004. English. ⟨tel-00005172⟩

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