A virtual reality based 3D real-time interactive brachytherapy simulation of needle insertion and seed implantation

Virtual reality based simulation can facilitate training, rehearsal, and intra-operative assistance used to improve the accuracy and quality of prostate brachytherapy, in this paper, we introduce a 3D real-time interactive simulation of needle insertion and seed implantation for prostate brachytherapy and report on the haptic feedback model used in this system. A deformable soft tissue model has been generated based on the restricted 3D ChainMail method to account for tissue deformation during needle insertion. A direct manipulation model for dynamic needle-tissue interaction was adopted. Haptic feedback, mimicking forces experienced in real procedures was provided to enhance realism and training outcome. The brachytherapy procedure has been simulated to demonstrate the errors caused by tissue deformation. Functionally, the simulation software is divided into two parts: visual simulation and haptic rendering. The preliminary implementation results of this simulation have demonstrated to be useful and promising.