Finite-element kalman filter with state constraint for dynamic soft tissue modelling.

This research work proposes a novel method for realistic and real-time modelling of deformable biological tissues by the combination of the traditional finite element method (FEM) with constrained Kalman filtering. This methodology transforms the problem of deformation modelling into a problem of constrained filtering to estimate physical tissue deformation online. It discretises the deformation of biological tissues in 3D space according to linear elasticity using FEM. On the basis of this, a constrained Kalman filter is derived to dynamically compute mechanical deformation of biological tissues by minimizing the error between estimated reaction forces and applied mechanical load. The proposed method solves the disadvantage of costly computation in FEM while inheriting the superiority of physical fidelity.