A Flexible Framework for Highly-Modular Surgical Simulation Systems
We present a modular software framework which is currently used for high-fidelity surgical simulation of hysteroscopic interventions. Main design criteria was to meet various real-time requirements without losing maintainability or extensibility of the overall system. Moreover, communication and synchronization tools were developed for the multi-threaded environment. The efficiency and scalability of a convenient thread-based parallelization scheme is demonstrated for the distension fluid computation, as well as the collision detection algorithm. Performance measurements on a four processor system show an almost perfect scalability for larger problems.
KeywordsCollision Detection Haptic Device Main Loop Rigid Object Deformable Object
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