Abstract
In this decade, many medical simulators based on Virtual Reality have been developed. However, most simulators deal with only a single organ mostly because of computational limitation. Accurate deformation and haptic display in the simulation of open surgery and palpation training requires to model interaction caused by collisions of elastic objects. This paper presents a method to produce accurate deformation based on physical properties of related objects. Subjective evaluation using prototype rectum palpation simulator clears that the proposed method can express difference of stiffness of an elastic object hidden another elastic object perceivably for haptic sensation of human-being.
