Surgical simulation with high-fidelity haptic feedback

Authors:
P. X. Liu;W. Zheng;B. Chebbi
Affiliations:
Carleton University, Ottawa, Canada;Carleton University, Ottawa, Canada;Algonquin College, Ottawa, Canada
Venue:
International Journal of Robotics and Automation
Year:
2007

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Abstract

High-fidelity haptic feedback and real-time visualization of the evolution of soft tissues in a cutting procedure are two essential problems faced by computer-based surgical simulation. A progressive cutting method, in which a temporary particle is employed to track the position of the surgical instrument in the virtual environment, is developed to render updated visual feedback when cutting proceeds. A modified mass-spring system is used to model soft tissues. In order to reduce computational load, the updating is limited to the "zone of influence." The simulator, developed on a regular Windows PC, shows that interactive cutting procedures can be visualized in real time. A new force model employing a back-propagated neural network is used to render force feedback to the user.