Elastically deformable 3D organs for haptic surgical simulation.

This paper describes a technique for incorporating real-time elastically deformable 3D organs in haptic surgical simulators. Our system is a physically based particle model utilizing a mass-springs-damper connectivity with an implicit predictor to speed up calculations during each time step. The solution involves repeated application of Newton's 2ndd Law of motion: F = ma using an implicit solver for numerically solving the differential equations.