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Related Concept Videos

Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

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Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
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Related Experiment Video

Updated: Jan 8, 2026

Creation of Patient-Specific Silicone Cardiac Models with Applications in Pre-surgical Plans and Hands-on Training
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Real-Time Haptic-Based Soft Body Suturing in Virtual Open Surgery Simulations.

George Westergaard1, Mark Ellis1, Jacob Barker2

  • 1Department of Computer Science, Florida Polytechnic University, Lakeland, Florida, USA.

Computers & Graphics
|December 17, 2025
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Summary
This summary is machine-generated.

This study introduces a real-time virtual reality surgical simulator for soft-tissue suturing, offering bimanual haptic feedback. The system demonstrates stable physics and high frame rates, providing a low-cost, high-fidelity training tool for surgeons.

Keywords:
Extended Position-Based DynamicsHapticsOpen SurgerySurgical simulatorSuturingVirtual Reality

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Area of Science:

  • Medical Simulation
  • Virtual Reality in Surgery
  • Surgical Training Technologies

Background:

  • Surgical training requires realistic practice environments.
  • Current virtual reality (VR) tools often lack sufficient haptic feedback and complex physics simulation for suturing.
  • There is a need for accessible, high-fidelity simulation platforms for open surgical procedures.

Purpose of the Study:

  • To develop and evaluate a real-time VR-based open surgery simulator for soft-tissue suturing.
  • To assess the system's performance in simulating various suturing techniques with bimanual haptic feedback.
  • To investigate user perceptions of anatomical realism and haptic feedback effectiveness in surgical trainees and experts.

Main Methods:

  • Development of a VR simulator utilizing eXtended Position-Based Dynamics (XPBD) for soft body and suture thread simulation.
  • Implementation of bimanual haptic feedback for realistic interaction during suturing.
  • Performance testing across four common suturing techniques (purse-string, Connell, stay, Lembert) to measure frame rates and particle simulation capacity.
  • Conducting a user study with 24 participants using the Virtual Colorectal Surgery Trainer - Rectal Prolapse simulator.

Main Results:

  • The simulator achieved high frame rates (50-80 FPS) with up to 4,155 particles, demonstrating stable real-time performance for complex suturing tasks.
  • 71% of users rated anatomical realism as moderate to very high.
  • 50% found force feedback realistic, and 54% found it useful, indicating effective immersion but also room for haptic fidelity improvement.

Conclusions:

  • The developed VR simulator offers a low-cost, high-fidelity platform for practicing open surgical suturing.
  • The system effectively simulates complex interactions like continuous sutures and knot tying with stable real-time physics.
  • Findings highlight the potential of VR simulation for surgical education while underscoring the importance of advanced haptic feedback for enhanced training outcomes.