Fundamentals of suturing simulation in surgical training environment

This thesis presents a knotting and suturing model based on the Virtual Training Environment (VTE). We introduce a mechanics-based approach to real-time simulation of deformable linear objects (DLOs) with visual and force feedback, which can represent the mechanical properties of a real thread, such as stretching, compressing, bending, and twisting. We also present how forces propagate along the suture when the user pulls it with one or two hands. The user can practice the basic suturing techniques on the simulator presented in this thesis. The pre-wound suturing target is modeled as a modified mass-spring system. The tools involved in the live suturing procedures are also simulated. Collisions between the soft tissue and the needle, between the soft tissue and the suture are analyzed. In addition, the tissue tearing is also studied in this thesis. Furthermore, this thesis addresses the GPU application in simulating deformable objects.