Cyber Surgery: Parameterized Mesh for Multi-modal Surgery Simulation

This paper presents a new method for modeling of virtual organs for surgery simulation. The organ models have a parameterized representation that supports real-time interactive deformation. To accomplish real-time interaction with deformable organs, instead of computing the deformation on the 3D organ models in 3D space we use a novel yet simple and fast free-form deformation on the 2D parameterized representation itself. We also show that our parameterized representation can be extended to efficiently perform collision detection of tool tip with organs. With the parameterized mesh, we also demonstrate that realistic visual and haptic rendering can be provided for interactive surgery simulation.