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3D and 2D finite element analysis in soft tissue cutting for haptic display
Please use this identifier to cite or link to this item:
http://hdl.handle.net/1860/1552
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| Title: | 3D and 2D finite element analysis in soft tissue cutting for haptic display |
| Authors: | Chanthasopeephan, Teeranoot
Desai, Jaydev P.
Lau, Alan C.W. |
| Keywords: | Haptic display
Soft tissue cutting
Local effective modulus |
| Issue Date: | 2005 |
| Publisher: | IEEE Institute of Electrical and Electronics Engineers |
| Citation: | Paper presented at the 2005 International Conference on Advanced Robotics, ICAR '05, Seattle, WA. |
| Abstract: | Real-time medical simulation for robotic surgery
planning and surgery training requires realistic yet
computationally fast models of the mechanical behavior of
soft tissue. This paper presents a study to develop such a
model to enable fast haptics display in simulation of softtissue
cutting. An apparatus was developed and experiments
were conducted to generate force-displacement data for
cutting of soft tissue such as pig liver. The forcedisplacement
curve of cutting pig liver revealed a
characteristic pattern: the overall curve is formed by
repeating units consisting of a local deformation segment
followed by a local crack-growth segment. The modeling
effort reported here focused on characterizing the tissue in
the local deformation segment in a way suitable for fast
haptic display. The deformation resistance of the tissue was
quantified in terms of the local effective modulus (LEM)
consistent with experimental force-displacement data. An
algorithm was developed to determine LEM by solving an
inverse problem with iterative finite element models. To
enable faster simulation of cutting of a three-dimensional
(3D) liver specimen of naturally varying thickness, three
levels of model order reduction were studied. Firstly, a 3D
quadratic-element model reduced to uniform thickness but
otherwise haptics-equivalent (have identical forcedisplacement
feedback) to a 3D model with varying
thickness matching that of the liver was used. Next, hapticsequivalent
2D quadratic-element models were used. Finally,
haptics-equivalent 2D linear-element models were used.
These three models had a model reduction in the ratio of
1.0:0.3:0.04 but all preserved the same input-output
(displacement, force) behavior measured in the experiments.
The values of the LEM determined using the three levels of
model reduction are close to one another. Additionally, the
variation of the LEM with cutting speed was determined.
The values of LEM decreased as the cutting speed
increased . |
| URI: | http://dx.doi.org/10.1109/ICAR.2005.1507436
http://hdl.handle.net/1860/1552 |
| Appears in Collections: | Faculty Research and Publications (MEM)
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