Measuring in vivo animal soft tissue properties for haptic modeling in surgical simulation.

To provide data for the design of virtual environments and teleoperated systems for surgery, it is necessary to measure tissue properties under both in vivo and ex vivo conditions. The former provides information about tissue behavior in its physiological state, while the latter can provide better control over experimental conditions. We have developed devices to measure tissue properties under extension and indentation, as well as to record instrument-tissue interaction forces. We are creating a web database of data recorded from porcine abdominal tissues.