GiPSi: An Open Source/Open Architecture Software Development Framework for Surgical Simulation

  • Tolga Gokce Goktekin
  • Murat Cenk Çavuşoğlu
  • Frank Tendick
  • Shankar Sastry
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3078)


In this paper we propose an open source/open architecture framework for developing organ level surgical simulations. Our goal is to facilitate shared development of reusable models, to accommodate heterogeneous models of computation, and to provide a framework for interfacing multiple heterogeneous models. The framework provides an intuitive API for interfacing dynamic models defined over spatial domains. It is specifically designed to be independent of the specifics of the modeling methods used and therefore facilitates seamless integration of heterogeneous models and processes. Furthermore, each model has separate geometries for visualization, simulation, and interfacing, allowing the modeler to choose the most natural geometric representation for each case. I/O interfaces for visualization and haptics for real-time interactive applications have also been provided.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Anderson, E., Bai, Z., Bischof, C., Blackford, L.S., Demmel, J., Dongarra, J.J., Du Croz, J., Hammarling, S., Greenbaum, A., McKenney, A., Sorensen, D.: LAPACK Users’ guide, 3rd edn. SIAM, Philadelphia (1999)CrossRefGoogle Scholar
  2. 2.
    Berne, R.M., Levy, M.N. (eds.): Principles of Physiology, 3rd edn. Mosby, Inc., St. Louis (2000)Google Scholar
  3. 3.
    Buck, J.T., Ha, S., Lee, E.A., Messerschmitt, D.G.: Ptolemy: A framework for simulating and prototyping heterogeneous systems. Int. Journal of Computer Simulation special issue on Simulation Software Development (1994)Google Scholar
  4. 4.
    Çavuşoğlu, M.C., Tendick, F.: Multirate simulation for high fidelity haptic interaction with deformable objects in virtual environments. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2000), April 2000, pp. 2458–2465 (2000)Google Scholar
  5. 5.
    Cotin, S., Shaffer, D.W., Meglan, D.A., Ottensmeyer, M.P., Berry, P.S., Dawson, S.L.: CAML: A general framework for the development of medical simulations. In: Proceedings of SPIE. Battlefield Biomedical Technologies II, vol. 4037 (2000)Google Scholar
  6. 6.
    Joukhadar, A., Laugier, C.: Dynamic simulation: Model, basic algorithms, and optimization. In: Laumond, J.-P., Overmars, M. (eds.) Algorithms For Robotic Motion and Manipulation, pp. 419–434. A.K. Peters Publisher, Wellesley (1997)Google Scholar
  7. 7.
  8. 8.
    Modelica — A Unified Object-Oriented Language for Physical Systems Modeling; Language Specifications 2.0. The Modelica Association (2002),
  9. 9.
    Montgomery, K., Bruyns, C., Brown, J., Sorkin, S., Mazzella, F., Thonier, G., Tellier, A., Lerman, B., Menon, A.C.: Spring: A general framework for collaborative, real-time surgical simulation. In: Westwood, J., et al. (eds.) Medicine Meets Virtual Reality (MMVR 2002), IOS Press, Amsterdam (2002)Google Scholar
  10. 10.
    Tendick, F., Downes, M., Goktekin, T., Çavuşoğlu, M.C., Feygin, D., Wu, X., Eyal, R., Hegarty, M., Way, L.W.: A virtual environment testbed for training laparoscopic surgical skills. Presence 9(3), 236–255 (2000)CrossRefGoogle Scholar
  11. 11.
    Wu, X., Downes, M.S., Goktekin, T., Tendick, F.: Adaptive nonlinear finite elements for deformable body simulation using dynamic progressive meshes. In: Proceedings of the EUROGRAPHICS 2001 (September 2001)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Tolga Gokce Goktekin
    • 2
  • Murat Cenk Çavuşoğlu
    • 1
  • Frank Tendick
    • 3
  • Shankar Sastry
    • 2
  1. 1.Dept. of Electrical Eng. and Computer Sci.Case Western Reserve UniversityUSA
  2. 2.Dept. of Electrical Eng. and Computer Sci.University of CaliforniaBerkeleyUSA
  3. 3.Dept. of SurgeryUniversity of CaliforniaSan FranciscoUSA

Personalised recommendations