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The AISIM is a research group made of 6 INRIA teams. We are working on minimal invasive surgery simulation on the liver. Minimal invasive surgery is quite a hard technique to learn for the surgeon because almost each of his senses is limited. Instead of directly looking at the organs, he uses a camera handled by someone else. He also looses the 3rd dimension. He uses long tools to interact with the organ. As these tools pass through the patient’s skin, they only offer limited degrees of freedom. The friction of the tool inside the trocart also limits the accuracy of the feeling of the force.
Up until now, training has been performed on mechanical simulators which offer only poor realism and on living animals. The pig is used for surgery on the abdomen. Although more realistic than mechanical simulators, the pig is quite different from the human.
Our aim is to build a simulator which offers as much realism as possible. To do this, we are developing physically based deformable models that simulate the organ. To give the surgeon as much information as he would have during a real surgery procedure, the simulator must offer a realistic rendering both visual and haptic. Force feedback needs simulation frequencies at least ten times faster than visual rendering.
All of this to say that everything in the simulator needs to go fast.