Modeling of tool-tissue interactions for computer-based surgical simulation: A literature review
Presence: Teleoperators and Virtual Environments
Interactive simulation of surgical needle insertion and steering
ACM SIGGRAPH 2009 papers
Needle insertion parameter optimization for Brachytherapy
IEEE Transactions on Robotics
Viscoelasticity modeling of the prostate region using vibro-elastography
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Real time ultrasound needle image simulation using multi- dimensional interpolation
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part II
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This paper presents a medical simulator for prostate brachytherapy procedure. Needles are inserted in deformable tissue models using a haptic device while the force feedback computed using a needle-tissue interaction model is rendered on the user's hand. Transrectal ultrasound images of the region of interest are also displayed in real-time using an interpolation scheme accounting for the mesh-based tissue deformation. Employing a 3D ultrasound volume data reconstructed a priori, this simulation method achieves realistic ultrasound feedback coupled with immediate tissue deformation. Models for simulating tissue deformation using the finite element method are obtained by segmented the relevant anatomy on MR slices. These models are rigidly registered to the ultrasound voxel volume using the prostate surface. The presented simulation system is suitable for brachytherapy training using haptic control/feedback. It can also be used for treatment planning.