中文摘要：

对现有虚拟手术中人体软组织建模方法进行了分析，针对目前软组织建模真实性还有待提高的问题，提出了一种新的软组织建模方法．首先，在引入体弹簧质点模型的基础上，利用生物力学方法建立了适合软组织力学仿真的模型．然后通过非线性超弹性应变能方程对弹簧力建模，并根据真实肝脏软组织物理特性的测量结果求解模型参数，得到基于物理特性的软组织模型．通过实验验证，该方法在提升虚拟手术触觉沉浸感方面具有可行性和有效性．

英文摘要：

The human soft tissue modeling is still a bottleneck for realistic soft tissue simulation. A novel soft tissue modeling method is proposed to improve the reality in this paper. Firstly~ the volume- spring mass model is employed, and the biomechanics method is used to build the force model of the soft tissue. Then the springs is modeled with the non-liner hyper-elastic strain energy function for bio-tissues, the parameters of the model is calculated with the values tested by the ex vivo experiment on pig liver tissue, and the soft tissue model based on the physical character is obtained. The utility of improving the reality of virtual surgery system is verified by the experiment.