TY  - EJOU
AU  - Bao, Yidong  
AU  - Wu, Dongmei  

TI  - Establishment and Stability Analysis of a Hybrid Viscoelastic Model Based on Meshless for Surgical Robot System
T2  - Computer Modeling in Engineering \& Sciences

PY  - 2014
VL  - 100
IS  - 4
SN  - 1526-1506

AB  - 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, kidney and skin soft tissue. By utilizing force feedback devices to handle different virtual soft tissue thus to get virtual simulation experimental data, then compare them with the actual characteristics data of soft tissue in published literature, and experiments have shown that this model possesses good stress-strain, stress relaxation and creep properties. Finally, this paper compared mass-spring model for the stress-strain and cutting simulation experiments, which further confirmed the effectiveness and stability of the proposed model.
KW  - Virtual model
KW  -  Viscoelastic model
KW  -  Surgical robot
KW  -  Mass-spring model

DO  - 10.3970/cmes.2014.100.277