A viscoelastic soft tissue simulation method using implicit FEM and dynamic damping

In the field of virtual surgery simulation, high-precision, real-time soft body interaction simulation is crucial. The finite element method is currently one of the most accurate solutions in the simulation field. However, traditional explicit finite elements often suffer from low accuracy and high computational costs. This work presents a viscoelastic soft tissue simulation based on the implicit finite element approach and dynamic damping employing the Taichi framework to mimic soft tissue deformation. By increasing the stress of the Corotated linear elasticity model with SLM-based damping, the viscoelastic method lowers computational cost while nevertheless improving computational efficiency. Real-time high-frame-rate liver contact simulation is obtained by means of an effective collision approach based on Taichi framework, hence optimizing computational efficiency. Furthermore, force feedback devices help to replicate the needle puncturing and contacting with the liver more realistically. This approach shows viscoelastic characteristics, a realistic contact force sensation, and a frame rate of 110 FPS according to the stress-strain curve of the liver under needle-liver interaction and the force feedback curve. The results show that our approach may produce a more realistic experience during interactions with force feedback devices and achieve viscoelastic liver simulation with great computational efficiency.