We propose a new approach allowing visio-haptic interaction with a FE model of a human liver having both non-linear geometric and material properties. The material properties used in the model are extracted from the experimental data of pig liver to make the simulations more realistic. Our computational approach consists of two main steps: a pre-computation of the configuration space of all possible deformation states of the model, followed by the interpolation of the precomputed data for the calculation of the reaction forces displayed to the user through a haptic device during the real-time interactions. No a priori assumptions or modeling simplifications about the mathematical complexity of the underlying soft tissue model, size and irregularity of the FE mesh are necessary. We show that deformation and force response of the liver in simulations are heavily influenced by the material model, boundary conditions, path of the loading and the type of function used for the interpolation of the pre-computed data.

中文翻译：

---

与静态软组织模型的实时视觉-触觉交互，消除了几何和材料非线性

我们提出了一种新的方法，可以与具有非线性几何和材料特性的人类肝脏的FE模型进行视觉-触觉交互。该模型中使用的材料特性是从猪肝的实验数据中提取出来的，从而使模拟更加逼真。我们的计算方法包括两个主要步骤：对模型的所有可能变形状态的配置空间进行预计算，然后对预先计算的数据进行插值，以计算在操作过程中通过触觉设备向用户显示的反作用力实时互动。不需要有关基础软组织模型的数学复杂性，有限元网格的大小和不规则性的先验假设或简化模型。