A low-complexity volumetric model with dynamic inter-connections to represent human liver in surgical simulators.

We propose a method for visualisation of the human liver to represent nonlinear behaviour of the tissue and to preserve the object's volume. Our multi-scale model uses dynamic interconnections to keep the size of the gland. We introduce two new parameters to control the influence of an external force on the nonlinear material of the liver. Another novelty in the proposed method is to design a multi-dimension data structure which makes it possible to run our code on conventional CPUs and in real-time. We evaluated the proposed algorithm both quantitatively and qualitatively by synthetic and clinical data. Our model preserved 98.4% and 94.1% of a typical volume in small and large deformation, respectively. The run-time of our model was 0.115 second. Our model preserves the volume of a liver during both small and large deformations and our results are comparable with recent methods.