Realtime Simulation of Stiff Threads Using Large Timesteps

Abstract

A method to simulate suture threads for a microsurgical training simulator is presented. An integration method based on implicit integration is used in order to achieve the high stiffness of suture threads while still using a large time step for keeping the real-time capabilities of the simulation. A key feature of the presented method is the separation of the contact handling and the integration itself. This preserves the real time capability of the simulation even in complex situations that involve many self collisions (e. g. tying knots). The stability and realism of the model are demonstrated by simulating a reef knot, which is one way of tying and holding together two simulated threads. The methods have been developed in cooperation with the VRmagic GmbH in Mannheim.