Elastically deformable 3D organs for haptic surgical simulation

Roger Webster, Randy Haluck, Rob Ravenscroft, Betty Mohler, Eric Crouthamel, Tyson Frack, Steve Terlecki, Jeremy Sheaffer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Scopus citations


This paper describes a technique for incorporating real-time elastically deformable 3D organs in haptic surgical simulators. Our system is a physically based particle model utilizing a mass-springs-damper connectivity with an implicit predictor to speed up calculations during each time step. The solution involves repeated application of Newton's 2nd Law of motion: F = ma using an implicit solver for numerically solving the differential equations.

Original languageEnglish (US)
Title of host publicationMedicine Meets Virtual Reality 02/10 - Digital Upgrades
Subtitle of host publicationApplying Moore's Law to Health
PublisherIOS Press
Number of pages3
ISBN (Print)1586032038, 9781586032036
StatePublished - 2002
Event10th Annual Medicine Meets Virtual Reality Conference, MMVR 2002 - Newport Beach, CA, United States
Duration: Jan 23 2002Jan 26 2002

Publication series

NameStudies in Health Technology and Informatics
ISSN (Print)0926-9630
ISSN (Electronic)1879-8365


Other10th Annual Medicine Meets Virtual Reality Conference, MMVR 2002
Country/TerritoryUnited States
CityNewport Beach, CA

All Science Journal Classification (ASJC) codes

  • Biomedical Engineering
  • Health Informatics
  • Health Information Management


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