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An efficient soft tissue characterization algorithm from in vivo indentation experiments for medical simulation

<25>A major obstacle to developing virtual reality based medical simulators to train surgeons (similar to flight simulators to train pilots) is the lack of quantitative data on organ mechanical behavior. This paper broke new ground in the use of a high precision robot for novel in vivo measurement of intra-abdominal organ mechanical properties. In addition, the empirical data was optimally integrated with 3D nonlinear finite element organ models for high fidelity simulation of organ behavior. Following publication in this leading medical robotics journal, Srinivasan has given invited keynote talks on the future of surgical training in several major surgery conferences.