Operation simulation of pressing gallbladder in minimally invasive surgery

Aiming at the gallbladder deformation in the minimally invasive gallbladder resection simulation when using the surgical robot performs the surgery, this paper studied the gallbladder deformation process with pressing action and established the geometric model of the gallbladder and its accessory ducts. On account of the geometry model built in the study, the mechanical model is constructed based on the spring-mass model. The study proposed an operation simulation algorithm for the case while the gallbladder is pressed by the surgical instrument and it is validated. The relatively true and timely graphic feedback shows that the algorithm can implement the operation simulation while the gallbladder and its accessory ducts are pressed. The result of simulation indicates that the algorithm can be employed in medical simulations, and can put into actual use in operation simulations of the gallbladder and its accessory ducts.