Open AccessProceedings Article
Simulation of surgical cutting in deformable bodies using a game engine
Martin Kibsgaard,Kasper K. Thomsen,Martin Kraus +2 more
- pp 342-347
TLDR
In this paper, a low-cost simulator for robotic surgery is presented, which allows for arbitrary cuts in deformable objects using a spring mass model combined with a volumetric tetrahedral mesh.Abstract:
Simulators as a training tool for surgeons are becoming more important with the increase of minimally invasive surgery and a wish to limit training on animals, especially in the field of robotic surgery. Accessibility to surgery simulators is currently limited and the ability to cut is restricted. This paper presents a feasibility study for implementing academic methods in a low-cost game engine. Expanding on previous work, a low-cost surgery simulator is implemented to adress these issues. We focus on the implementation of cutting in deformable objects in a game engine. The deformable objects are implemented using a spring mass model combined with a volumetric tetrahedral mesh. The cutting algorithm is semi-progressive and allows for arbitrary cuts in the deformable objects. The prototype was evaluated by a chief surgeon with expertise in robot surgery and experience with commercial simulators. The low-cost prototype presents a step towards robotic surgery simulators that are able to simulate complete surgical procedures.read more
Citations
More filters
Posted Content
Learning Latent Graph Dynamics for Deformable Object Manipulation.
Xiao Ma,David Hsu,Wee Sun Lee +2 more
TL;DR: This work aims to learn latent Graph dynamics for DefOrmable Object Manipulation (GDOOM), which approximates a deformable object as a sparse set of interacting keypoints and learns a graph neural network that captures abstractly the geometry and interaction dynamics of the keypoints.
Journal ArticleDOI
Improving Haptic Transparency for Uncertain Virtual Environments Using Adaptive Control and Gain-Scheduled Prediction
Shane Forbrigger,Ya-Jun Pan +1 more
TL;DR: The objective of this work is to improve the transparency for this type of VE by formulating the unknown nonlinear dynamics as a quasi-linear parameter varying (LPV) system and designing a predictor to provide an output at a much higher update rate.
Journal ArticleDOI
Augmented reality-based visual-haptic modeling for thoracoscopic surgery training systems
TL;DR: Wang et al. as discussed by the authors proposed an immersive AR lobectomy within a thoracoscope surgery training system, using visual and haptic modeling to study the potential benefits of this critical technology.
Prediction-Based Haptic Interfaces to Improve Transparency for Complex Virtual Environments
TL;DR: This work investigates a method of improving the haptic feedback realism (or transparency) from slowly updating virtual environments by designing a control structure that takes advantage of higher update rates outside of the virtual environment.
References
More filters
TetGen: A quality tetrahedral mesh generator and a 3D Delaunay triangulator (Version 1.5 --- User's Manual)
TL;DR: A brief explanation of the kind of tetrahedralizations and meshing problems handled by TetGen is given and fairly detailed documentation about the usage of the program is given.
Journal ArticleDOI
Robotic Surgery Training with Commercially Available Simulation Systems in 2011: A Current Review and Practice Pattern Survey from the Society of Urologic Robotic Surgeons
Costas D. Lallas,John W. Davis +1 more
TL;DR: Virtual reality simulators have a definite role in the future of robotic surgical training, and their largest impact will be appreciated when incorporated into a comprehensive educational curriculum.
Progressive cutting with minimal new element creation of soft tissue models for interactive surgical simulation
Andrew Mor,Takeo Kanade +1 more
TL;DR: A method for simulating cutting of soft tissue within a physically based surgical simulator that works on subdividing tetrahedral meshes while impacting model and simulator efficiency as little as possible.
Proceedings ArticleDOI
Animating cuts with on-the-fly re-meshing
Fabio Ganovelli,Carol O'Sullivan +1 more
TL;DR: This paper proposes an on-the-fly tetrahedral simplification scheme to cope with such a fragmentation problem and shows that the mesh exhibits a higher density where it has been cut than elsewhere.
Journal ArticleDOI
Initial experiences with RoSS surgical simulator in residency training: a validity and model analysis
TL;DR: The RoSS surgical simulator accurately corresponds to training level and is a valid evaluation tool of training experience, and participant opinion showed that residents feel that robotic training is an important part of their education and that the simulator is an effective supplement.