Abstract. This paper outlines a framework for the modelling of slender rod-like biological tissue structures in both global and local scales. Volumetric discretization of a rod-like structure is expensive in computation and therefore is not ideal for applications where real-time performance is essential. In our approach, the Cosserat rod model is introduced to capture the global shape changes, which models the structure as a one-dimensional entity, while the local deformation is handled separately. In this way a good balance in accuracy and efficiency is achieved. These advantages make our method appropriate for the modelling of soft tissues for medical training applications.Keywords: Medical training, surgery simulation, deformation, Cosserat rod, computer animation
IntroductionVirtual simulation can replicate the teledisplay and instrumentation of laparoscopic surgery and is attracting increasing attention from both the research community and the medical practitioners. As a training methodology it can reduce the costs and risks and has been adopted widely by the surgical community. A training system based on virtual simulation provides the trainees with flexible access to training sessions, whereas traditionally the training sessions are limited by the availability of patients and training posts. The most essential element of such a system is to model the behaviour of the tissues in a proper manner in order to produce convincing visual and haptic feedback to the user. Slender shapes represent a group of organs and tissues in the human body. Efficient simulation of such structures provides a useful framework which lays the foundation for virtual surgery applications involving such objects. Our work discussed in this paper focuses on modelling slender biological tissues which can be presented with a simple rod model. In the human body, many tissues are of long, thin, rod-like shapes, and we can take the advantage of modelling them as one-dimensional entities to efficiently simulate their behaviours. Examples of such tissues include blood vessels, muscle fibres, small intestines, rectum, ligaments, tendons, and hair. Though the one