Research on soft tissue deformation based on haptic feedback

To solve the problem of stability and accuracy of haptic feedback output in virtual surgery. We have made thorough study of soft tissue deformation with phantom desktop in virtual scene and systems analysis of factors which effect on soft tissue deformation. First of all, a haptic feedback model is constructed, which could express normal direction and surface friction as well as the tactile texture. Then, the numerical solution of haptic feedback model is obtained. At the same time, the haptic of the collision detection and response are improved, to return the accurate contact point location and interface normal vector. In this paper, take knee-joint skin as an example, analyses the effects which concluded by different haptic feedback model parameters. The result shows that the probability of puncture has been decreased, and it provides a reliable basis for the parameters of deformation.