Real time simulation of deformable objects with force feedback - application to surgery simulation

This paper presents some issues in the simulation of deformable objects with force feedback. It presents an overview of our approach for the conception of a virtual reality medical simulator. We describe a new base finite element method (Extended Tensor-Mass Model) suitable for soft tissue simulation under real time constraints. Our approach allows fast computation of non-linear and viscoelastic mechanical deformations and forces. As far as real-time interactions are concerned, we present our work on collision detection and haptic interaction. Thus, for contact management, a continuous collision detection method based on cubic spline parametric approximation is proposed. Finally, interactive endovascular simulator is described.