  The control and task automation of robotic surgical system is very
challenging, especially in soft tissue manipulation, due to the unpredictable
deformations. Thus, an accurate simulator of soft tissues with the ability of
interacting with robot manipulators is necessary. In this work, we propose a
novel 2D simulation framework for tool-tissue interaction. This framework
continuously tracks the motion of manipulator and simulates the tissue
deformation in presence of collision detection. The deformation energy can be
computed for the control and planning task.
