Adaptive octree cube refinement depending on grasping position for deformable organ models

Abstract

This paper describes an adaptive octree cube refinement method for deformable organ models. Surgical simulation is one of the most promising ways for surgical training. Various types of surgical simulators have been researched and developed. Laparoscopic surgery simulators are already in practical use. They have been evaluated for their effectiveness in learning surgical techniques. To realize a high-quality simulator, it is important to efficiently process organ deformation models according to the content of the surgical simulation so that both high-resolution and real-time processing. In this study, we extend adaptive mesh refinement, which increases mesh resolution in the manipulation region, and apply it to an octree cube structure. The refinement process of the octree cube structure is performed based on the distance from the grasping position of the gallbladder model. This approach improves the resolution of the octree in the area near the grasping position where relatively large deformations occur. In addition, it makes it easier to detect interference between the grasp model and the high-resolution grid of the octree. Simulation results showed that there were 199 cubes before and 339 cubes after refinement, and the FPS decreased from 44.1 FPS to 32.4 FPS on a standard CPU and GPU PC, which is still within real-time processing.