3D modelling of soft tissues and simulation of deformation using haptic devices

In today's technology age, thanks to the improvements in computer graphics, remarkable improvements are achieved in 3D modelling in virtual environment in accordance with many original objects. The same reactions those are likely to be encountered in daily life with the scenarios created in virtual environment is simulated with 3D modelling using virtual reality technology. Nowadays, simulators are being developed with the help of virtual reality technology and widely used in many areas especially from medical education to flight training of pilots. Cadavers, which are costly and bring ethical considerations, are being used in medical education. With the change in perspective in medical training, simulators are developed to enable physician candidates to make numerous repetitions using various scenarios and gain practical experience. In addition, psychomotor skills can be achieved by using tactile feedback devices used in conjunction with simulator software. Thus, candidates can experience the same reaction to the model modelled in a computerized experience as they feel they touch a real organ or tissue. In this thesis, a simulator software platform is developed to simulate the deformation algorithms of organs such as bile and kidney in the human body using deformation algorithms. In the system, firstly, organs are modelled in 3D according to their anatomical structure. On the developed simulator, feedback is provided by the deformation realized on the model when the organ is touched or applied tensile force by designed haptic device. In the study, mass spring method and molecular modelling method are used to obtain deformation in rich graphical 3D models. In addition, collision detection method is preferred to determine which point is contacted in the mesh structure modelled with haptic device. All simulations on the simulator developed in the thesis study are performed in real time using the functions available in the OpenGL library.