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  • Title: Elastically deformable 3D organs for haptic surgical simulation.
    Author: Webster R, Haluck R, Ravenscroft R, Mohler B, Crouthamel E, Frack T, Terlecki S, Sheaffer J.
    Journal: Stud Health Technol Inform; 2002; 85():570-2. PubMed ID: 15458154.
    Abstract:
    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.
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