DocumentCode
2020562
Title
Anisotropic elasticity and force extrapolation to improve realism of surgery simulation
Author
Picinbono, Guillaume ; Lombardo, Jean-Christophe ; Delingette, Herve ; Ayache, Nicholas
Author_Institution
Inst. Nat. de Recherche en Inf. et Autom., Sophia-Antipolis, France
Volume
1
fYear
2000
fDate
2000
Firstpage
596
Abstract
We describe the latest developments of the minimally invasive hepatic surgery simulator prototype developed at INRIA. The goal of this simulator is to provide a realistic training test-bed for performing laparoscopic procedures. Therefore, its main functionality is to simulate the deformation and cutting of tri-dimensional anatomical models with the help of two virtual laparoscopic surgical instruments. Throughout the paper, we present the general features of the simulator including the implementation of different bio-mechanical models based on linear elasticity and finite element theory and the integration of two force-feedback devices in the simulation platform. More precisely, we describe two important developments that improve the overall realism of the simulator. First, we can create bio-mechanical models that include the notion of anisotropic deformation. Indeed, we have generalized the linear elastic behavior of anatomical models to “transversally isotropic” materials, i.e. materials having one privileged direction of deformation. The second improvement is related to the problem of haptic rendering. Currently, we are able to achieve a simulation frequency of 25 Hz (visual real-time) with anatomical models of complex geometry and behavior. But to achieve a good haptic feedback requires a frequency update of applied forces typically above 300 Hz (haptic real-time). Thus, we propose a force extrapolation algorithm in order to reach haptic real-time
Keywords
computer based training; elasticity; finite element analysis; force feedback; integration; surgery; anatomical models; anisotropic deformation; anisotropic elasticity; bio-mechanical models; force extrapolation; force-feedback devices; haptic feedback; haptic real-time; laparoscopic procedures; linear elasticity; minimally invasive hepatic surgery simulator prototype; surgery simulation; training test-bed; transversally isotropic materials; tri-dimensional anatomical models; visual real-time; Anisotropic magnetoresistance; Biological materials; Deformable models; Elasticity; Extrapolation; Frequency; Haptic interfaces; Minimally invasive surgery; Solid modeling; Virtual prototyping;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.844118
Filename
844118
Link To Document