Visuo-haptic interaction of soft tissues for MR-based laparoscopic training

Visuo-haptic interaction of soft tissues for MR-based laparoscopic training | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Visuo-haptic interaction of soft tissues for MR-based laparoscopic training Jianlong Ni, Jingrong Li, Qinghui Wang, Kunsong Zhang, Liuhua Chen, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7322768/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Visual and haptic interaction of soft tissue objects is crucial for the development of virtual reality (VR)-based training systems for laparoscopic surgery. However, most existing methods reported thus far suffer from limited computational efficiency and struggle to model the dynamic haptic interaction behavior between soft tissues and surgical instruments, which significantly restricts the sense of presence and practicality of the training system. Hence, this work proposes a visuo-haptic simulation approach for soft tissue deformation and its dynamic haptic interaction behavior. With the approach, an Extended Position-Based Dynamics (XPBD)-based soft tissue simulation method is proposed by integrating time-varying stiffness and damping coefficients, which specifically enables the realistic simulation of the dynamic damping oscillatory behavior of soft tissue during interaction with surgical instruments. Next, an interaction force model between soft tissue and surgical instruments is established, and a mixed reality (MR) training system for hepatobiliary separation surgery is developed by integrating haptic devices. The system allows users to operate a haptic device as if handling real surgical instruments, enabling realistic contact and interaction with virtual soft tissue. With real-time, high-fidelity deformation simulation and haptic feedback, users can efficiently perform common surgical maneuvers such as pulling, retracting, and sweeping soft tissues. The experimental results show that the proposed approach improves the simulation accuracy of dynamic haptic interaction behavior of soft tissue compared with actual soft tissue, which significantly enhances the training efficiency and quality of laparoscopic surgery. Soft Tissue Simulation Haptic Interaction Extended Position Based Dynamics Laparoscopic Simulation Mixed Reality Full Text Additional Declarations No competing interests reported. Supplementary Files IXPBD250728.mp4 Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7322768","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":508382421,"identity":"61d6ed07-d700-400c-b1a2-73f536c3e36c","order_by":0,"name":"Jianlong Ni","email":"","orcid":"","institution":"South China University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Jianlong","middleName":"","lastName":"Ni","suffix":""},{"id":508382422,"identity":"21a78a4f-b99e-4a64-beac-6eb5e9c98631","order_by":1,"name":"Jingrong Li","email":"","orcid":"","institution":"South China University of 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However, most existing methods reported thus far suffer from limited computational efficiency and struggle to model the dynamic haptic interaction behavior between soft tissues and surgical instruments, which significantly restricts the sense of presence and practicality of the training system. Hence, this work proposes a visuo-haptic simulation approach for soft tissue deformation and its dynamic haptic interaction behavior. With the approach, an Extended Position-Based Dynamics (XPBD)-based soft tissue simulation method is proposed by integrating time-varying stiffness and damping coefficients, which specifically enables the realistic simulation of the dynamic damping oscillatory behavior of soft tissue during interaction with surgical instruments. Next, an interaction force model between soft tissue and surgical instruments is established, and a mixed reality (MR) training system for hepatobiliary separation surgery is developed by integrating haptic devices. 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