A contact model for a lattice-based endoscopy simulation

Abstract

This paper proposes a contact model for a latticebased endoscopy simulation including a real-time simulation of hollow shaped organ and flexible endoscope. Lattice-based freeform deformation technique is employed to the hollow shaped organ for real-time simulation. This paper develops a contact model using the Signorini’s law. The mapping matrix that defines mapping between the object space and contact space is developed for each model by considering its geometric characteristics. The proposed contact model enables real-time simulation of interaction between a hollow shaped organ and an endoscope while guaranteeing non-penetration condition in the contact points.