A physical model of soft tissue that provides realistic and real-time haptic and visual feedback is crucial for neurosurgical procedures. This paper investigates the interaction between surgical instruments and soft brain tissue, proposing a soft tissue deformation simulation method based on the principle of energy minimization and constrained energy function. The model includes a permanent deformation energy function induced by friction and a volume preservation energy function to more accurately depict tissue response during procedures such as resection of convex meningiomas and evacuation of intracerebral hematomas. Experimental results show that the proposed method meets the requirements of neurosurgical simulation.
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