A Biomechanical Model of the Liver for Reality-Based Haptic Feedback

  • Tie Hu
  • Jaydev P. Desai
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2878)


Biomechanical model of soft tissue for remote probing based on observed experimental data is critical for developing a reality-based model for minimally invasive surgical training and simulation. In our research, we have focused on developing a biomechanical model of the liver with the ultimate goal of using this model for local tool-tissue interaction tasks and providing feedback through a haptic display. We have designed and developed tissue indentation equipment for characterizing the biomechanical properties of the liver and formulated a hybrid nonlinear model that is valid in both low strain and high strain regions. The pig liver is simplified as the incompressible, isotropic, and homogeneous elastic material. This model will be the basis for a finite element model for the pig liver.


Quadratic Model Biomechanical Model Nominal Thickness Probe Diameter Probe Force 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Tie Hu
    • 1
  • Jaydev P. Desai
    • 1
  1. 1.Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, MEM DepartmentDrexel UniversityPhiladelphiaUSA

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