Real-time simulation of interaction between colon and endoscope for the colonoscopy simulation.

This paper proposes a novel simulation framework for the real-time deformation of the colon and endoscope using a skeleton-driven deformation method. Cylindrical lattices and a centerline are employed as the skeletons, and a mass-spring model is applied to the skeletons for the mechanics-based simulation. The centerline-based collision detection and resolution algorithm is applied to simulate the interaction between the colon and endoscope. The proposed simulation framework is integrated with a colonoscopy simulation. Simulation results show that the proposed method allows real-time simulation (28 Hz) using the colon model composed of up to 241,440 meshes.