A Voxel-based PBD Model for Simulating Nasal Polyp Deformation and Application in Endoscopic Surgery Simulation System

In this study, we developed a nasal endoscopy simulation system based on Unity to be used for training novice doctors. The nasal cavity and internal structures were segmented from high-resolution CT images of patients, and mesh models were generated. To address model penetration between surgical tools and the nasal cavity model, we proposed a collision detection method based on motion trend prediction. By predicting potential collisions based on motion trends and performing corresponding preprocessing, we were able to prevent model penetration. The deformation of soft tissue structures within the nasal cavity was achieved by using a voxel-based PBD model. By voxelizing the mesh model and adding PBD constraints to the voxelized model, we achieved synchronous deformation between the mesh and voxelized models through coupling. For haptic rendering, two Phantom Omni devices were used to operate endoscopes and other surgical tools while providing force feedback. Experimental results showed that our system can provide realistic nasal endoscopy scenarios and effectively assist doctors in surgical training.