Haptic herniorrhaphy simulation with robust and fast collision detection algorithm

Collision detection and soft tissue deformation are two major research challenges in real time VR based simulation, especially when haptic feedback is required. We have developed a real time collision detection algorithm for a prototype laparoscopic surgery trainer. However, this algorithm makes no assumptions about its applications and thus can be a generic solution to complicated collision detection problems. For soft tissue modeling, we use the mass-spring model enhanced with volume constraint and, stability control methods. We use both the new collision detection and tissue modeling algorithms in a bimanual hernia repair simulator which performs a mesh prosthesis stapling operation in real time.