Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review (original) (raw)
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Interactive soft tissue modelling for virtual reality surgery simulation and planning
International Journal of Computer Aided Engineering and Technology, 2017
While most existing virtual reality-based surgical simulators in the literature use linear deformation models, soft-tissues exhibit geometric and material nonlinearities that should be taken into account for realistic modelling of the deformations. In this paper, an interactive soft tissue model (ISTM) which enables flexible, accurate and robust simulation of surgical interventions on virtual patients is proposed. In ISTM, simulating the tool-tissue interactions using nonlinear dynamic analysis is formulated within a total Lagrangian framework, and the energy function is modified by adding a term in order to achieve material incompressibility. The simulation results show that ISTM increases the stability and eliminates integration errors in the dynamic solution, decreases calculation costs by a factor of 5-7, and leads to very stable and sufficiently accurate results. From the simulation results it can be concluded that the proposed model can successfully create acceptable soft tissue models and generate realistically visual effects of surgical simulation.
Proceedings Computer Animation 1999, 1999
In this paper, we describe the basic components of a surgery simulator prototype developed at INRIA. After a short presentation of the geometric modeling of anatomical structures from medical images, we insist on the physical modeling components which must allow realistic interaction with surgical instruments. We present three physical models which are well suited for surgery simulation. Those models are based on linear elasticity theory and finite elements modeling. The first model pre-computes the deformations and forces applied on a finite element model, therefore allowing the deformation of large structures in real-time. Unfortunately, it does not allow any topology change of the mesh therefore forbids the simulation of cutting during surgery. The second physical model is based on a dynamic law of motion and allows to simulate cutting and tearing. We called this model "tensor-mass" since it is analogous to spring-mass models for linear elasticity. This model allows volumetric deformations and cuttings, but has to be applied to a limited number of nodes to run in real-time. Finally, we propose a method for combining those two approaches into a hybrid model which may allow real time deformations and cuttings of large enough anatomical structures. This model has been implemented in a simulation system and real-time experiments are described and illustrated.
The Visual Computer, 2000
In this paper, we describe the basic components of a surgery simulator prototype developed at INRIA. After a short presentation of the geometric modeling of anatomical structures from medical images, we insist on the physical modeling components which must allow realistic interaction with surgical instruments. We present three physical models which are well suited for surgery simulation. Those models are based on linear elasticity theory and finite elements modeling. The first model pre-computes the deformations and forces applied on a finite element model, therefore allowing the deformation of large structures in real-time. Unfortunately, it does not allow any topology change of the mesh therefore forbids the simulation of cutting during surgery. The second physical model is based on a dynamic law of motion and allows to simulate cutting and tearing. We called this model "tensor-mass" since it is analogous to spring-mass models for linear elasticity. This model allows volumetric deformations and cuttings, but has to be applied to a limited number of nodes to run in real-time. Finally, we propose a method for combining those two approaches into a hybrid model which may allow real time deformations and cuttings of large enough anatomical structures. This model has been implemented in a simulation system and real-time experiments are described and illustrated.
Surgical Simulator Design and Development
World Journal of Surgery, 2008
With the introduction of minimally invasive surgery (MIS), it became necessary to develop training methods to learn skills outside the operating room. Several training simulators have become commercially available, but fundamental research into the requirements for effective and efficient training in MIS is still lacking. Three aspects of developing a training program are investigated here: what should be trained, how it should be trained, and how to assess the results of training. In addition, studies are presented that have investigated the role of force feedback in surgical simulators. Training should be adapted to the level of behavior: skill-based, rule-based, or knowledgebased. These levels can be used to design and structure a training program. Extra motivation for training can be created by assessment. During MIS, force feedback is reduced owing to friction in the laparoscopic instruments and within the trocar. The friction characteristics vary largely among instruments and trocars. When force feedback is incorporated into training, it should include the large variation in force feedback properties as well. Training different levels of behavior requires different training methods. Although force feedback is reduced during MIS, it is needed for tissue manipulation, and therefore force application should be trained as well.
Efficient linear elastic models of soft tissues for real-time surgery simulation
Studies in health technology and informatics, 1999
In this paper, we describe the basic components of a surgery simulator prototype developed at INRIA. We present two physical models which are well suited for surgery simulation. These models are based on linear elasticity theory and finite elements modeling. The former model can deforme large tetrahedral meshes in real-time but does not allow any topological changes. On the contrary, the latter biomechanical model can simulate the cutting and tearing of soft tissue but must have a limited number of vertices to run in real-time. We propose a method for combining these two approaches into a hybrid model which may allow real time deformations and cuttings of large enough anatomical structures.
Constraint-Based Soft Tissue Simulation for Virtual Surgical Training
IEEE Transactions on Biomedical Engineering, 2014
Most of surgical simulators employ a linear elastic model to simulate soft tissue material properties due to its computational efficiency and the simplicity. However, soft tissues often have elaborate nonlinear material characteristics. Most prominently soft tissues are soft and compliant to small strains, but after initial deformations they are very resistant to further deformations even under large forces. Such material characteristic is referred as the nonlinear material incompliant which is computationally expensive and numerically difficult to simulate. This paper presents a constraint-based finite element algorithm to simulate the nonlinear incompliant tissue materials efficiently for interactive simulation applications such as virtual surgery. Firstly, the proposed algorithm models the material stiffness behaviour of soft tissues with a set of three-dimensional strain limit constraints on deformation strain tensors. By enforcing a large number of geometric constraints to achieve the material stiffness, the algorithm reduces the task of solving stiff equations of motion with a general numerical solver to iteratively resolving a set of constraints with a nonlinear Gauss-Seidel iterative process. Secondly, as a Gauss-Seidel method processing constraints individually, in order to speed up the global convergence of the large constrained system a multi-resolution hierarchy structure is also used to accelerate the computation significantly, making interactive simulations possible at a high level of details. Finally, this paper also presents a simple-to-build data acquisition system to validate simulation results with ex vivo tissue measurements. An interactive virtual reality-based simulation system is also demonstrated.
Real-time surgery simulation with haptic feedback using finite elements
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998
This article reports the ideas presented in [5, 61 for developing a real-time surgery simulation system. This system allows the interaction with volumetric deformable models of organs, and provides visual and haptic feedback in real-time. The geometry of organs is acquired from medical images. The physical properties are based on linear elasticity, and deformations are computed with finite elements. A preprocessing technique allows real-time computation of deformations and forces. The method has been extended to introduce a non linear behavior closer to the biomechanical behavior of soft tissues, while preserving real-time. We present the basic principles of the approach and results obtained with our experimental system (figure 1).
IEEE Virtual Reality Conference (VR'06), 2006
Development of a realistic surgery simulator that delivers high fidelity visual and haptic feedback, based on the physics of deformable objects, requires the use of empirical data on the behavior of soft tissues when subjected to external loads. Measurements on live human patients present significant risks, thus making the use of cadavers a logical alternative. Cadavers are widely used in present day surgical training, are relatively easy to procure through excellent donor programs and have the right anatomy, which makes them better candidates for training than the porcine model. To investigate the static and dynamic properties of soft tissue, we have developed a high precision tactile stimulator by modifying an exisitng haptic interface device, the Phantom, and used it to record the force-displacement behavior of intra-abdominal organs of fresh human cadavers at the US Surgical in Connecticut and Albany Medical College. Another paraemeter of great practical significace, but mostly overlooked in the literature, is the fulcrum force at the point of entry of the trocar into the abdomen. The length of the surgical tools, coupled with a thick abdominal wall of overweight or obese patients, tend to produce torques at the wrist of the surgeon which are often large enough to mask any haptic sensation from the organs being operated on. To ascertain the true role of haptics in endoscopic surgery one needs to measure these fulcrum forces. In this paper we discuss techniques and some preliminary results in this direction.
Lecture Notes in Mechanical Engineering, 2021
Numerical simulations and Finite Element Analysis (FEA) have currently increased their applications in medical field for making preoperative plans to simulate the response of tissues and organs. Soft tissue simulations, such as colorectal simulations, can be adopted to understand the interaction between colon tissues and surrounding tissues, as well as the effects of instruments used in this kind of surgical procedures. This paper analyses through FEA the interaction between a surgical device and a colon tissue when it is fully clamped. Sensitivity analysis in the respect of the material mechanical behaviour, geometric approximation and the effect of thickness variation are investigated with the aim of setting up a virtual prototype of the surgical operation to aid mentoring and preliminary evaluation via haptic solutions. Through this investigation, the force feedback estimation that is necessary in many virtual-reality applications, may be estimated without discharging nonlinear effects that occur during clamping and that usually cannot be simulated efficiently to guarantee real-time solutions. Results are aligned with experimental data, confirming the reliability and right the setup of FEA. Through them, the preliminary setup of a haptic force feedback has been described and simulated through Simulink 3D animation, confirming the feasibility of the concept.
Soft Tissue Modeling Techniques in Surgery Simulation
—Modeling and simulating the live tissues is a very complex and challenging process as it requires a huge amount of hardware power and advanced algorithms to be run on real time. There are number of articles, books and research papers which describe the properties of the different anatomy structures. This tissue modeling quality differs ranging from surgery types: neurosurgery, heart surgery, abdominal surgery, plastic surgery, minimal invasive surgery etc. Deformation accuracy and the computation time are the two significant constraints in soft tissue modeling for surgery simulation. Thus it has identified in the surgery domain the required surgery types can be categorized under three major heading which are surgery panning, Surgery training and scientific analyzing. Here with this paper it is intend to compare and contrast the soft tissue modeling techniques and categorized them according to the surgery types.