A Hybrid Model Method for Accurate Surface Deformation and Incision Based on FEM and PBD

Table 2

RMSE of deformation displacement of our method, PBD, and MSM on two real mesh models.

RMSE (mm)		Liver			Steak
		Ours	PBD	MSM	Ours	PBD	MSM
Tension	0.5 N	0.0850	0.1784	0.2067	0.0878	0.1801	0.2080
	1.0 N	0.0476	0.1366	0.2271	0.0487	0.1450	0.2388
	2.0 N	0.0952	0.2732	0.4542	0.0974	0.2899	0.4776
	5.0 N	0.2114	0.8580	1.0708	0.2595	0.8881	1.0245
	10.0 N	0.5288	1.8045	2.2797	0.5771	1.7984	2.3723
	20.0 N	1.0220	4.0798	5.5188	1.0382	4.0898	5.4101
Pressure	0.5 N	0.0476	0.1366	0.2271	0.0854	0.1845	0.2156
	1.0 N	0.0572	0.1740	0.2991	0.0511	0.1650	0.2660
	2.0 N	0.0952	0.2732	0.4542	0.0972	0.3299	0.4920
	5.0 N	0.2887	0.8876	1.0690	0.2575	0.8765	1.0077
	10.0 N	0.5347	1.7992	2.3037	0.5817	1.8091	2.2516
	20.0 N	1.0340	3.9092	5.2667	1.0342	3.9090	5.3660