Abstract
Surgical simulator reconstructs the deformation and the elasticity of the organs by software algorithm. As this calculation is complicated, phase-lags or the sudden elasticity would arise when we press the surface of the organ models with our fingertips. In this paper, we propose a method to solve these problems by correcting the computing time delay using the nonlinear estimation of the finger position and smoothing the elasticity value using the cubic spline interpolation. Further, experiments by simulation carried out to ensure the validity of this method.
