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This paper proposes a novel simulation framework for the real-time deformation of the colon and endoscope using a skeleton-driven deformation method. Cylindrical lattices and a centerline are employed as the skeletons, and a mass-spring model is applied to the skeletons for the mechanics-based simulation. The centerline-based collision detection and resolution algorithm is applied to simulate the interaction between the colon and endoscope. The proposed simulation framework is integrated with a colonoscopy simulation. Simulation results show that the proposed method allows real-time simulation (28Hz) using the colon model composed of up to 241,440 meshes.
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