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

Real-time visio-haptic interaction with static soft tissue model shaving geometric and material nonlinearity