Real-time surgical simulation often requires computing the deformations of visco-elastic
human-body tissue and generating both graphic and haptic renderings. As human users are
more sensitive to small haptic discrepancies than visual ones, good force rendering requires
a refresh rate of 500 Hz or more, which is far beyond the capabilities of current simulators.
Moreover, if the simulator runs on a remote server, limited bandwidth, network latency and
variance further compromise the quality of haptic rendering. To address these problems, a …

Today there is considerable interest in surgical simulators for training, operation planning,
and outcome prediction. Surgical simulation often involves real-time computation of the
deformations of visco-elastic human-body tissues and providing users with both graphic and
haptic rendering. As humans are more sensitive to small haptic discrepancies than visual
ones, good force rendering requires a refresh rate of 500Hz or more, which is far beyond the
capabilities of current simulation techniques. If the simulator runs on a remote server, limited …