A New Hybrid Viscoelastic Soft Tissue Model based on Meshless Method for Haptic Surgical Simulation

Yidong Baoa, b, Dongmei Wua, *, Zhiyuan Yan a, Zhijiang Dua
a State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, P.R. China
b School of Software, Pingdingshan University, Pingdingshan 467000, P.R. China

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© Bao et al.; Licensee Bentham Open.

open-access license: This is an open access article licensed under the terms of the Creative Commons Attribution Non-Commercial License ( which permits unrestricted, non-commercial use, distribution and reproduction in any medium, provided the work is properly cited.

* Address correspondence to this author at the State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China; Tel: +86 0451-86414462-18; Fax: +86 0451-86414174; E-mail:


This paper proposes a hybrid soft tissue model that consists of a multilayer structure and many spheres for surgical simulation system based on meshless. To improve accuracy of the model, tension is added to the three-parameter viscoelastic structure that connects the two spheres. By using haptic device, the three-parameter viscoelastic model (TPM) produces accurate deformationand also has better stress-strain, stress relaxation and creep properties. Stress relaxation and creep formulas have been obtained by mathematical formula derivation. Comparing with the experimental results of the real pig liver which were reported by Evren et al. and Amy et al., the curve lines of stress-strain, stress relaxation and creep of TPM are close to the experimental data of the real liver. Simulated results show that TPM has better real-time, stability and accuracy.

Keywords: : Meshless, soft tissue model, force-feedback, viscoelasticity , haptic device, surgical simulation..