Gallbladder modeling and simulation in laparoscopic cholecystectomy

One challenge in laparoscopic cholecystectomy surgery simulation is to construct a fast and accurate deformable gallbladder model. This paper proposed an improved multi-layer mass-spring modeling method which can adapt well to the built-in accelerating algorithms in PhysX-engine of GPU. A multi-layer mass-spring model was constructed based on the surface mesh of a gallbladder. The inner layers of the mass-spring model were generated using more geometrical information than the previous method. The parameters of the springs were configured based on the biomechanical properties of gallbladder to ensure the realism of the deformation results. Preliminary experiments demonstrate that our model can achieve better results in terms of both visual perception and time performance.