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Haptic feedback is often employed in medical simulators, with the goal to improve user interaction and the training outcome. One option for providing touch sensations is using passive haptics, by including actual physical mock-ups of the anatomical objects in the simulated scene. While this approach has advantages, the usual one-to-one mapping between virtual and physical objects is a fundamental...
Since the minimally invasive surgery robot(MISR) has been widely used in hospitals, people pay more and more attention to the safety of minimally invasive surgery. Based on the analysis of security requirements for medical robots, a novel safety design is proposed. The principle and equivalent stiffness of the safety design was researched by the use of analytical method. In the paper, a kind of safety...
Surgical robot systems for minimally invasive surgery (MIS), such as laparoscopic surgery, typically employ remote center of motion (RCM) mechanisms consisting of rigid links. Although the rigid body mechanisms have high reliability based on their stiffness, their large volume interferes the workspace of surgeons and the rigidity of pivot point requires precise positioning during the setup of robots...
Representation of soft tissues in virtual reality environments has been focused by researchers with applications including training medical students and surgeons, treatment planning, monitoring and telesurgery. A major challenge of current modeling schemes such as Boundary Element, Finite Element, and Mass-Spring Models is to deal with volume preserving. Another challenge is the complexity of a model...
Mass Spring Model (MSM) is widely used in the simulation of soft tissue deformation due to its high efficiency. However, the anisotropie property of soft tissue challenges such a simulation. This manuscript proposed an improved MSM by taking into consideration of anisotropie property. Firstly, the anisotropie property of soft tissue is investigated. Then, the parameters of MSM are set according to...
Robot-assisted minimally invasive surgery generally forbids an important diagnostic tool in medicine: palpation. There are various approaches to re-establish the haptic feedback for the surgeon, including tactile displays and haptic input devices. We present a novel haptic display that features seven pins mounted on compression springs that can be pre-loaded with servo motors. The pins have a stroke...
This paper presents an innovative approach of utilising visual feedback to determine physical interaction forces with soft tissue during Minimally Invasive Surgery (MIS). This novel force sensing device is composed of a linear retractable mechanism and a spherical visual feature. The sensor mechanism can be adapted to endoscopic cameras used in MIS. As the distance between the camera and feature varies...
This paper presents a novel haptic temporal bone surgery simulator. Temporal bone surgery is challenging as anatomic structures are complex and encased within bone. The new simulator is designed to train surgical residents permitting virtual practice of complex patient specific procedures before actual surgery is performed. The simulation employs voxels for collision detection and bone removal. It...
This paper presents a new hand-held device capable of amplifying delicate micromanipulation forces during minimal invasive surgical tasks. It relays force sensing to the user through a simple sliding feature that is coupled to the surgical tool, which translates relative to the casing of the device held by the operator. This forgoes the need of grounding frames or anchoring mechanisms to the body,...
This paper reports on ICEA, the Immersive Creation and Edition of Animation platform we developed in order to support easy computer animations. This plug-in allows users to create new animations and to modify existing ones by interacting intuitively within Virtual Environments. The aim of our system is to enable people without computer animation background to design objects' motions and animations...
In this paper, a novel concept of two-degree-of-freedom (2-DOF) compliant forceps is suggested for the measure of pulling and grasp forces at the tip of surgical instrument for minimally invasive surgery robot. For the design of the compliant forceps, the required compliance characteristics are first defined using a simple spring model with one linear and one torsional springs. This model may be directly...
Graphic image deformation is widely used in many applications such as automation, video game, advertising design and virtual surgical system. In order to develop the image deformation simulation of tissues in virtual surgery system running at embedded platform, we design and implement the embedded image deformation simulation based on OpenGL ES (Open Graphics Library for Embedded Systems), by applying...
An experimental study was done to examine the relationship between vibrotactile amplitude displacement and softness sensation. Merkel Disk behavior relative to softness sensation was studied under psychophysical experimentation of human participants. Restrictions are carefully applied on contact area spreading so that vibration will be the only factor that would induce a sensation. A vibrotactile...
We describe a novel method to segment the bladder wall in magnetic resonance imaging (MRI) to support the detection of disease, such as endometriosis, and for surgical planning. We segment the inner and outer wall boundary using T2- and T1-weighted MRI images, respectively. A new coupling technique for level sets is formulated and tested on 54 T2- and T1-weighted image pairs. A local phase based dimensionless...
Soft tissue simulation with bimanual force feedback is one of the main research topics toward practical application of surgery simulation. A method for the simulation of soft object using Mass-Spring model is presented to deform human tissue in the bimanual haptic feedback environment. A multi-thread simulation framework is employed to support real-time force feedback calculation and the deformation...
Fast, realistic physically based deformable models are required for real time Virtual Reality applications such as surgical simulators. The main focus of this paper is to introduce a new deformable model called NDM that is fast enough to allow interactive frame rates and plausible deformation. The NDM is integrated in an interactive Cataract Eye Surgery Simulator (CESS), which is used to model the...
Virtual surgery is an important application of virtual reality in medicine. Only the cutting-edge part of the surgical instrument contacts with the human organs in surgical procedures. Based on this characteristic, we proposed sampling a series of feature points from the organ's surface model of the body to describe the external contour of the organ, and then detect the contact state between the cutting-edge...
The medical training systems based on virtual simulation are highly desired since minimally invasive surgical techniques have become popular to patients. The training system helps surgeon trainees to acquire, practice and evaluate their surgical skills, and the key component of such a system is to simulate the dynamic procedure such as 3D biological tissue deformation in surgical operation. In our...
A novel approach to the simulation of soft tissue cutting in a virtual reality endoscopic simulator is presented for applications in surgical training and education. This approach is based on an improved mass-spring model and the use of computational geometry. A virtual spring is introduced to compensate the weakness of the conventional mass-spring model, and a detection algorithm utilizing decomposition...
A challenge in virtual reality based laparoscopic cholecystectomy simulation is to construct a fast and accurate deformable gallbladder model. This paper proposes a multi-layer mass-spring model which can adapt well to the built-in accelerating algorithms in PhysX-engine of GPU. The gallbladder is first segmented from clinical CT images. A multi-layer model based on the anatomical structure of gallbladder...
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