Modeling and deforming a virtual dense elastic object with the haptic device PHANToM

In recent years, there have been various problems in medical treatments, of which human error by the surgeon in an operation is one of the most serious. In order to minimize human error in an operation, we need a medical training system by which inexperienced surgeons can try operating again and again to improve their skill. In this research, we construct a system of modeling a virtual dense elastic object, and deforming that object using a haptic device called PHANToM. In the system which we construct, we use two PCs to distribute the process of calculation, and SCRAMNet+ is used to connect each PC. PHANToM is used to operate on the object and to express the force which is generated from the deformation of the object. We represent the dense object by using voxels and tetrahedrons, and the elastic object by using a spring-mass model. A virtual dense elastic object is obtained by computed tomography (CT) or magnetic resonance imaging (MRI) to express the patient’s organs.