Physically based hybrid approach in real time surgical simulation with force feedback.

This paper describes a novel hybrid-modeling paradigm for the simulation of surgical tool-soft tissue interactions in real time medical simulations using force feedback. A local point collocation-based method of finite spheres is coupled with a global boundary element technique to capture local features of the interaction (e.g., nonlinearities of the soft tissue) without sacrificing global accuracy. The technique is demonstrated using realistic examples.