DESC:FIELD OF INVENTION
This invention is related to a method for soft body simulation more particularly, Haptics enabled soft body simulation using the young's modulus from the object's physics data.
BACKGROUND
Haptics has been a separate industry, which sometimes was used for 3D sculpting, designing, and training purposes. This is relatively easier and common since it deals with hard bodies like wood or stone, so communicating about the simulation surface to the hardware is quite easy and the respective resistance could be applied. Some simulators use the word haptic and give vibration as feedback when the virtual instrument is in touch with an organ. But this is not truly haptic, this is a very mobile phone like nudge. Simulation of soft bodies has been a challenge in the computer graphics and physics industry for more than a decade now.

The science of haptics artificial touch technology is stepping out of the research environment and into commercial medical training applications. While joysticks in consumer games offer tactile perception, haptically-enabled medical simulations provide force feedback and are based on sophisticated, high-fidelity haptic devices and software that deliver greater precision, differentiation between materials such as bone and soft tissue, and a more realistic sense of touch.
Even though there are solutions, there are three major drawbacks in the simulation industry.
1) Performance of the simulation (hardware required)
2) Accuracy of the simulation
3) The third challenge added recently is the haptic behavior, which adds one more dimension to the simulation and how users can interact with it. There is a need to bring more accuracy to how a physical object reacts to forces within the simulation as in real life. Our implementation will be in the medical surgery simulation field, it requires the most accuracy in terms of graphics, physics, and haptics simulation. Many more inventions are used for simulation like US 2018/0144219 A1, where A system and method for converting imaging data, for example, medical imaging data, to three - dimensional printer data. Imaging data may be received describing, for example, a three - dimensional volume of a subject or patient. Using printer definition data describing a particular printer, 3D printer input data may be created from the imaging data describing at least part of the three - dimensional volume. And in Para 35., In one embodiment of the invention, image data 94 ( e . g . , 3D image or imaging data ) may be converted to 3D printer input data 11 ( e . g . , a mesh ) while taking into account or being according to printer specification or definition data 22. For example, printer input data may be created from (e. g., be converted from) image or imaging data 94 which may describe at least part of the 3D volume, or allow a 3D printer to print at least part of the 3D volume. Imaging data may be for example a volume including 3D colored or grayscale data which may require segmentation (e. g. DICOM images of CT or MR, a series of two - dimensional (2D) images). A 3D printer may then print a 3D object or objects which correspond to the printer input data, and the imaging data or the 3D volume. Printer specification or definition data 22 typically describes the specific printer or type of printer that a user intends to be used for a certain print job. Printer specification or definition data 22 may describe the operating parameters, resolution, tolerances, accuracy, etc. for a particular 3D printer and/or a particular model of printer. Printer specification or definition data 22 may include data on the particular print material a target printer (e. g., the printer intended to be used or a printer selected to be used by a user) is using, and certain printers may use different material. Thus printer specification or definition data 22 may include data describing a particular printer and the variant of material it is intended to use for a particular job. The conversion may include segmentation: identifying features such as in - vivo features ( e . g . , organs, vascular systems, parts of organs, bones, etc . ) and creating, for example, one or more masks 24. Each mask 24 may represent for example a different object within the volume to be printed, organ, the body part to be printed, bone, etc Image data 94 may describe or depict a three - dimensional volume of a subject ( e . g . , a patient, although non - living objects may be subjects in some embodiments ). However, image data 94 need not be complete 3D data; for example, a set of 2D slices may form image data 94 and may describe a 3D volume. For example, CT data may be input which may be a bed of 2D slices, where the distance or spacing between each slice is known. So this prior art converts MRI, MR, or CT data directly to 3d printer data format with the right scale. It avoids the necessity to convert into an intermediate format before converting into a 3D printer compatible format.

In US8532359B2, medical image data is utilized, physical values are assigned to body parts based on image information, and the target organs are separated from the image data to prepare a 3D biodata model to thereby realize a data model unique to a patient, having an internal structure, and enabling the dynamic simulation of a live body. The same target part of a body is captured by CT and MRI to obtain medical images. Sets of pairs of CT images and MRI images are set, a plurality of features showing the same locations are selected and set from the sets of CT images and MRI images, a conversion coefficient between the CT images and MRI images is obtained, and this conversion coefficient is used to rearrange the MRI images by projection transforms and linear interpolation, combine them with the contours of the CT images, and correct their positions in the contours. Further, the images are used to prepare a 3D data model. Here this invention interpolates MRI and CT scan to derive at a 3D data for simulation purpose. But also has the ability to position organs and establish relationships for dynamic simulation.

In CN106264731, a virtual unicompartmental knee arthroplasty model construction method based on point-to-point registration technology, and belongs to the technical field of a three-dimensional simulation of computers. The method includes the steps: acquiring postoperative CT (computed tomography) images of a UKA (unicompartmental knee arthroplasty); acquiring preoperative MRI (magnetic resonance imaging) images of the UKA; saving data; importing CT two-dimensional images, and rebuilding three-dimensional models; importing MRI two-dimensional images, and rebuilding three-dimensional models; registering and modifying knee joint models; constructing three-dimensional models of prostheses; assembling postoperative knee joint simulation prostheses of the UKA; optimizing the models; dividing grids; defining attributes of materials of various parts; applying loads and boundary conditions; verifying the models. According to the method, imaging scan is performed based on cases, experimental results have pertinence, constructed models are closer to actual situations, the method particularly replies research of failure cases or successful cases and is simple in operating process and less in related software, corresponding prostheses are scanned according to used types in actual operations, experimental time is shortened, and experimental cost is reduced. This method is based on point-to-point registration technology, using MRI/CT scans to do trail before actual procedure. In general some more techniques available in the market as following
Fundamental surgery - They work on procedures like total knee arthroplasty where no soft bodies are involved. The models are not customisable and not based on CT Scan or MRI data of individuals.They do not use medical data
OSSO VR is a surgical training and assessment platform where procedures with linear progress where no soft bodies are involved. The models are not customisable and not based on CT Scan or MRI data of individuals. They do not use medcial data
Lapsim - simbionix -The models are not customisable and not based on CT Scan or MRI data of individuals
Lapmentor - surgical science - The models are not customisable and not based on CT Scan or MRI data of individuals

The interactive simulation of soft bodies at haptic rates is necessary for many applications, ranging from assembly simulation of deformable objects to Virtual-Reality based training of surgical operations. The above prior arts are failed to disclose to produce a soft body simulation with haptics enabled system from object's physics data.

OBJECTIVES OF THE INVENTION
The main objective of the present invention is deriving soft bodies from medical data captured from the original human body or bones or particles wherein the medical data is a Magnetic resonance imaging (MRI) or a computerized tomography (CT) or X-ray data but not necessarily limited to it.
Another objective of the invention is to provide haptic feedback to the user by calculating the haptic feedback sense at any point in the organ based on the medical data received from a Magnetic resonance imaging (MRI) or a computerized tomography (CT) or an X-ray data.
Yet the other objective of the invention is to provide a method for soft body simulation more particularly, Haptics enabled soft body simulation using the young's modulus from the object's physics data or the medical data.
Yet the other objective of the invention is to provide a method or a technique for simulating haptic feedback of a soft body or an organ based on the information as input feed and such technique is useful for surgical simulators.

SUMMARY OF THE INVENTION
The main embodiment of the invention is to provide a technique for obtaining plurality data of soft body organs for simulation. The technology includes the method in which a haptic device communicates with a simulated visual/virtual environment about the details of a particular organ. The technique in the invention used can exhibit real-life movements accurately into the simulation environment. Wherein the techniques can also simulate haptic feedback of a soft body or an organ based on the information as input feed to it useful for surgical simulators. The interactions include but are not limited to clipping, cutting, holding, pushing, pulling, gliding, twisting, turning, catching, coagulating & throwing. The methods, applications, and systems of the present technology can be used for comprehensive surgery simulation systems to simulate virtual patient anatomy. The parameters or particulars are built from CT/MRI scan data and in the simulation elasticity is calculated to create the geometry of the object. The haptic simulation method also includes stress, strain force or torque can be measured to form obtain data about an organ and simulate the physics and haptic feedback.
DETAILED DESCRIPTION OF THE DRAWING
Fig 1 illustrates the flowchart describing a method used to obtain data about an organ and simulate the physics and haptic feedback according to one embodiment of the invention.
Fig 2 illustrates haptic feedback F1direction towards the user’s hand against F2 is the force directed to the soft body
DETAILED DESCRIPTION OF THE INVENTION

In the following detailed description, numerous specific details are outlined to provide a thorough understanding of some embodiments. However, it will be understood by persons of ordinary skill in the art that some embodiments may be practiced without these specific details. In other instances, well-known methods, procedures, components, units, and/or circuits have not been described in detail so as not to obscure or limit the scope of the discussion.

The main embodiment in the invention is primarily the method used to obtain data about an organ and simulate the physics and haptic feedback. The physics input can be received from either a solid body or a soft body, both of which will be handled within the system, yet the output given to the processor will be soft body data set. The hard body data will be included in the soft body data set. will consist of stress, elasticity, surface position, surface normal, force direction, and also reaction force magnitude and direction.
The other main important embodiment in the invention primarily the system having haptic factor generator to characterize a soft body and haptic feedback force generator used to alert the user or let the user to feel about the soft body by data about an organ and simulate the physics and haptic feedback. The physics input can be received from either a solid body or a soft body, both of which will be handled within the system, yet the output given to the processor will be soft body data set. The hard body data will be included in the soft body data set. will consist of stress, elasticity, surface position, surface normal, force direction, and also reaction force magnitude and direction. The user is having a tool by which the user is interacting with the soft body. So it possible to alert the user with a vibration signal or a force F2 when user input force F2 is deforming the soft body or atonce the user interacts with the soft body

Fig 1 illustrates the flowchart describing a method used to obtain data about an organ and simulate the physics and haptic feedback according to one embodiment of the invention that the Haptics enabled soft body simulation using the Youngs modulus from the actual object includes Haptics Enablement and provisions for obtaining an organ's physical data.

In one aspect the particulars of an image or recorded image or images from Digital Imaging devices and electronic image, CT ( computed tomography ) data, MR or MRI magnetic resonance imaging data, ultrasound data, or digitally modified images or sampled images.
Another aspect of the invention that the particulars including but are not limited to vertices, edges, thickness, height, length, density, angles, and other geometry information of the data.
The other embodiment in the invention is to identify the physical properties of the data which may include the elasticity, density, mass, etc using ultrasound elastography, and the young's modulus is calculated along the area of the object, maximum and minimum Young's modulus is calculated and stored.
Where Youngs Modulus E is equated as E = tensile stress/ tensile strain
Stress = Force/ Area where Strain = Change in length/ Actual Length
Example 1
Young’s Modulus values of different material are given below:
? Steel – 200
? Glass – 65
? Wood – 13
? Plastic (Polystyrene) – 3
This will indicate the amount of force required to deform from their current state. Wherein Young's modulus of a human organ is captured

Example 2
In the present invention, Young's modulus is not going to be calculated for the material, but each point in the Organ. So instead of having one constant for the whole organ, it is interpolated across the organ, to include factors like support from molecules around the point. So Young's Modulus value at the edges will be lesser than in the center because the edges can be deformed easily with force rather than the center

The soft body using bones and particles are created as per the geometry of the object. And particle is placed based on the density of the area in the object According to the particle movements, the bone positions and angles are changed, and according to the bone weights vertices are moved and triangles are drawn.

In other embodiments, the physical parameters like stress and strain can be measured approximately within the simulation. Now that young’s modulus ‘E’ is calculated along with all the particles of the soft body by interpolating. When the haptic engine needs to simulate pulling, a strain is calculated using the body position change and stress is calculated every frame using the E at required points. While the push is done, stress is calculated, and from the simulation and Strain is equated from the formula to apply against the force.
The haptic device in the invention is another objective in the invention which is characterized to simulate in such a way that the calculated stress or strain is then modified or converted or calculated into force and direction, which needs to be applied to the haptic device. The direction is calculated based on whether stress or strain is derived and the direction at which the user applies the force. Further, the amount of force is also taken into consideration from the stress equation to give the appropriate opposing haptic force.
Example 3
The stress applied to the body is calculated from the pressure given by the user on the organ. Also, the Vector of force is calculated based on the positional movement of the instrument by the user.
Stress = force applied by user/ Area on the organ at which it's applied
As in the previous example, we have already calculated the young’s modulus on the multiple points of the organ.
Strain =Stress calculated / Youngs modulus at that point
Delta L(change in position / deformation) = Strain * Original Length
The main embodiment in the invention that the Haptics enabled soft body simulation using Young’s modulus from the actual object includes Haptics Enablement and provisions for obtaining an organ's physical data.
Here, the haptic feedback is the force that acts upon the user's hand while interacting with the organ using an instrument. This is based on what he touches with the instrument and what force he applies. The strain will also try to rebound back into position unless the user gives opposing force to keep the organ in the strained position.
This realistic haptic feedback is important because it contributes hugely to the muscle memory of the user and also can train to counter many more consequences than a system without haptic feedback.
For example, Bleeding might happen if a certain amount of force is applied to the organ, but in a non-haptic scenario, there will be no feedback for the user to know how much more the organ can withstand.
It is one of the important embodiment in the invention where the feedback signal is a force that user can feel atonce the user interacts with the soft body recreated.
In one aspect the user can feel the feedback signal with is magnitude at once the uswer intreracts with the soft body. In other aspect the range of magnitude of the feed back signal may variable with respect to the user’s input like including but not limited to push, pull, grab, twist, squeeze, cut, stitch, knot…etc.
The Following is a set of process to achieve haptic feedback. All these steps are important embodiments as per invention.
1. creating soft bodies which includes both geometrical and physics data, processed from a medical data
2. Simulating the soft body in such a way that recreation of soft body includes a Young’s modulus value at each point of the soft body thereby density, elasticity and other physical data and properties of the organ is reflectable and such recreated soft body is reactable when the user interacts in a manner including but not limited to push, pull, grab, twist, squeeze, cut, stitch, knot…etc.,
3. Generating haptic feedback based on user input, magnitude & direction F1 and generates based on the forces given by the user, geometry of the organ and physical property of the organ. (poke through etc.,)
1) In one aspect the present invention is to provide a particle-based soft body generating system from medical data wherein,
a) medical data can be MRI OR CT data but not necessarily limited to it
b) the system extracts geometrical data from the medical data automatically
c) the system also extracts density data from the medical data
d) the soft body is formed which can be used in the simulator with physical properties based on the medical data
2) Collect haptic factor for organ from medical data
a) Ultrasound elastography data is used to find young's modulus at different points
b) The data is interpolated with respect to the density of the same organ
3) Generate haptic feedback in real-time from the soft body using medical data
a) user input and force given is calculated in the simulation
b) based on interpolated density, the young modulus is applied at the point
c) the resulting force is sent back to the hardware as haptic feedback
A medical data may be an MRI scan data of an original human part or human organ or human body or an X-ray, or a CT scan data that can be collected to form a soft body, wherein a soft body simulation with human interaction is characterized that a soft body is created using a medical data against which Young’s modules values such as strain, stress, force direction, speed, displacement, and other physical data are determined as the template in one aspect to recreate a soft body.

In other aspects, medical data may be an MRI scan data of an original human part or human organ or human body or an X-ray, or a CT scan data that can be collected to form a soft body, wherein a soft body simulation with human interaction is characterized that a soft body is created using a medical data against which the user operates the simulated soft body by applying a strain or stress or in combination with a speed or a direction or a displacement and other activities from the user end are determined. Based on the determined data Young’s modulus is interpolated.

Yet the other object in the present invention, A medical data may be an MRI scan data of an original human part or human organ or human body or an X-ray, or a CT scan data that can be collected to form a soft body, wherein a soft body simulation with human interaction is characterized that a soft body is created using a medical data against which the user operates the simulated soft body by applying a strain or stress or in combination with a speed or a direction or a displacement and other activities from the user end are used to find Young’s modulus value against which a haptic engine is characterized to inform the user about the haptic borders of the soft body simulated by sending the haptic signal. Wherein a haptic signal is a force signal that user can feel or a vibrational signal sent to the user when the stress value of the user or the strain values of the user is greater than the pre-determined young’s modulus value or when the stress value of the user or the strain values of the user is out of the range of the predetermined young’s modulus value. Wherein the feedback signal is a force signal F1 whose direction of acting is opposite to the direction of the force F2 receivable from the user. Therefore according direction of the force F2 and its magnitude resulting feedback signal F1 magnitude is variable.
Yet the other aspect in the invention is to recreate a soft body containg haptic factor by determining the young’s modulus value of each point if the soft body thereby density, elasticity and physical data and property of the particular soft body is reflectable.
Yet in other aspec, the recreated soft body is containg haptic factor
In one important embodiment in the invention, the haptic signal generated from the haptic engine is a vibration signal that operates equipment handled by the user to vibrate thereby the user is warned or informed that the user operates on the soft body that reaches out of the range of young’s modulus value where deforming of the soft body may occur. Therefore, whenever the soft body is get deformed by the force F2 generated from the user, the haptic signal F1 is generated from the haptic engine wherein the haptic engine is characterized to generate a haptic feedback signal F1 when the force signal F2 from the user is out of the range of Young’s modulus value. Wherein the haptic feedback signal F1 is maybe an alert signal to the user by vibrating the user equipment or a light indication signal or a color light indication signal or a signal with combinations of pluralities of colors. Wherein, the force F2 is acting in the direction opposite to the force F1 or vice versa where providing a dynamic feedback model that is not pre-defined and can be used to train psychomotor skills
From the above , it is observed that A method for accurate soft body simulation by recreating an organ using actual medical data and using a simulation tool which interacts with the soft body by generating a force F2 having a magnitude in a direction to perform a simulation, where in the method is characterized by
(i) creating a soft body using geometrical data, physics data, elasticity data, density data among other relevant data processed directly from actual medical data
(ii) recreating a soft body which includes a haptic factor by determining an Young’s modulus value at each point of the soft body, thereby density, elasticity, physical data, property of the organ are all reflectable and reactable when the user interacts with the recreated soft body by using the simulation tool.
(iii) generating accurate haptic feedback force from the organ interaction F1
(v) generating a haptic feedback force F1 in a range with a magnitude against the direction opposite to the user input force F2 generated with simulation tool having a magnitude and a direction thereby the user can feel the recreated soft body or get alerted about the recreated soft body during simulation interaction wherein the magnitude of the haptic feedback force F1 is directly proportional to the physical property of the organ and the action performed on the organ. So, the user can feel more about the soft body during simulation interaction. Wherein the simulation interaction is not limited to to push, pull, grab, twist, squeeze, cut, stitch, knot etc. it is also observed that the recreated soft body may be a color changeable with respect to the user input force F2 during simulation interaction. Here, the intention of color changing during simulation interaction is useful for the user when he changes the interaction
Yet in other aspect where a system which is not obviously present having a haptic factor enerator and haptic feedback generator for soft body simulation by using a simulation tool which interacts with a soft body by generating a force F2 having a magnitude in a direction to perform a simulation where in the system is characterized to perform simulation with a soft body consisting of
- the haptic factor generator recreates a soft body by determining Young’s modulus value of the softbody from geometrical data, physics data, elasticity data and density data processed from a medical data and a-haptic feedback force generator-generates a haptic feedback forcel F1 based on the haptic factor to alert the user about the interaction of user input forceF2 during simulation. So, magnitude of the haptic feedback force F1 is directly proportional to user input force F2, or wherein the magnitude of the haptic feedback force F1 is variable with respect to the physical property of the organ and user’s ineraction during simulation and providing different feedback for different organs. Thus offering haptic that is completely a dynamic feedback from the moment the user starts interacting with the organ here, if user increases the forceF2, the force F1 also increases. It will indicate the user to feel about the density of he soft body created or any physical or geomertrical aspects of the recereated softbody. Here the magnitude of the haptic feedback force F1 is directly proportional to user input force F2. And it is also possible to generate haptic feedback signal F1 is as a vibration signal.

Having now described the invention in accordance with the requirements of the patent statutes, those skilled in the art will understand how to make changes and modifications in the present invention to meet their specific requirements or conditions. Such changes and modifications may be made without departing from the scope and spirit of the invention.
,CLAIMS:1. A method for accurate soft body simulation by recreating an organ using actual medical data and using a simulation tool which interacts with the soft body by generating a force F2 having a magnitude in a direction to perform a simulation, where in the method is characterized by
(i) creating a soft body using geometrical data, physics data, elasticity data, density data among other relevant data processed directly from actual medical data
(ii) recreating a soft body which includes a haptic factor by determining an Young’s modulus value at each point of the soft body, thereby density, elasticity, physical data, property of the organ are all reflectable and reactable when the user interacts with the recreated soft body by using the simulation tool.
(iii) generating accurate haptic feedback force from the organ interaction F1
(v) generating a haptic feedback force F1 in a range with a magnitude against the direction opposite to the user input force F2 generated with simulation tool having a magnitude and a direction thereby the user can feel the recreated soft body or get alerted about the recreated soft body during simulation interaction.

2. The method for soft body simulation as claimed in claim 1, wherein the said magnitude of the haptic feedback force F1 is variable with respect to the density of the organ and users’ inpur force F2 during simulation interaction.
3. The method for soft body simulation as claimed in claim 1, wherein the said recreated soft body may be a color changeable with respect to the said user input force F2 during simulation interaction.
4. A system for soft body simulation by using a simulation tool which interacts with a soft body by generating a force F2 having a magnitude in a direction to perform a simulation where in the system is characterized to perform simulation with a soft body consisting of
- haptic factor generator and
-haptic feedback signal generator
-Wherein a haptic factor generator recreates a soft body by determining Young’s modulus value of the softbody from geometrical data, physics data, elasticity data and density data processed from a medical data
-Wherein a feedback signal generator generates a haptic feedback forcel F1 based on the haptic factor to alert the user about the interaction of user input forceF2 during simulation.

5. The system for soft body simulation as claimed in claim 1, wherein the said magnitude of the haptic feedback force F1 is variable with respect to the physical property of the organ and user’s ineraction during simulation.

6. The system for soft body simulation as claimed in claim 4, wherein the said haptic feedback force F1 is may be a vibration signal.