Establishment and Stability Analysis of a Hybrid Viscoelastic Model Based on Meshless for Surgical Robot System
Yidong Bao1,2, Dongmei Wu1,3
CMES-Computer Modeling in Engineering & Sciences, Vol.100, No.4, pp. 277-294, 2014, DOI:10.3970/cmes.2014.100.277
Abstract Aiming at the shortcomings of mass-spring model, this paper, on the basis of preliminary studies, established a new viscoelastic soft tissue model based on meshless structure. The model is consisted of a large quantity of filled spheres, with every three spheres being connected by a spring and a Kelvin structure, which can further enhance the real-time virtual simulation operability while ensure the viscoelasticity of basic model. The stress relaxation and creep equation of the model can be derived from formula derivation. Through setting different parameters to the filled spheres, this model, with certain universal property, can create a virtual liver,… More >
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