Multi-scale simulation for microsurgery trainer

Author

Lim, K.M. ; Wang, F. ; Poston, T. ; Zhang, L. ; Teo, C.L. ; Burdet, E.

Author_Institution

Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore

Volume

2

fYear

2004

fDate

April 26-May 1, 2004

Firstpage

1215

Abstract

For use in a Virtual Reality based training system for surgical micromanipulation, we have developed a fast multi-scale FEM algorithm that concentrates detail where needed while still handling global deformations. The resulting 6-to-7-fold speed up is promising for the development of real-time simulation of the mechanical response of a virtual organ or tissue. FEM algorithm uses elements from multiple levels in a hierarchy of mesh similar to the progressive mesh. This algorithm has been integrated with a visual/haptic feedback workstation.

Keywords

feedback; haptic interfaces; medical robotics; mesh generation; micromanipulators; surgery; virtual reality; FEM algorithm; finite element method; haptic feedback workstation; mechanical response; microsurgery trainer; multiscale simulation; real time simulation; surgical micromanipulation; virtual organ; virtual reality based training system; virtual tissue; visual feedback workstation; Computational modeling; Deformable models; Elasticity; Force feedback; Haptic interfaces; Microscopy; Microsurgery; Needles; Skin; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1307990

Filename

1307990