香港中文大学：《CMSC5719 Seminar》课程教学资源（讲义）Lecture 07-2 Research and Applications of Virtual Medicine Part II Virtual Reality Based Surgical Simulations

Part II: Virtual Reality Based Surgical Simulations

Part II: Virtual Reality Based Surgical Simulations

Outline Introduction to Virtual Surgery ■ Virtual Endoscopic Surgery ■ Interactive FEM based cutting and deformation Orthopedic surgery simulation with soft tissue deformation and bleeding Vascular and Interventional Surgical Simulation Ultrasound biopsy simulation with 6DOF haptics

Outline n Introduction to Virtual Surgery n Virtual Endoscopic Surgery n Interactive FEM based cutting and deformation n Orthopedic surgery simulation with soft tissue deformation and bleeding n Vascular and Interventional Surgical Simulation n Ultrasound biopsy simulation with 6DOF haptics

Significance of Virtual Surgery Safety avoid medical errors Reusability ■Repeatability Cost effective in the long run Speed up learning curve To enable surgical rehearsal,planning or training in cyberspace

Significance of Virtual Surgery n Safety – avoid medical errors n Reusability n Repeatability n Cost effective in the long run n Speed up learning curve n To enable surgical rehearsal, planning or training in cyberspace

Challenges Real-time photorealistic visualization Haptic simulation of tissue responses Complexity of tissue mechanics Real-time interactivity against Accuracy ■Accuracy今comprehensive modeling Real-time>30 Hz for graphics,1000 Hz for haptics feedback devices

Challenges n Real-time photorealistic visualization n Haptic simulation of tissue responses n Complexity of tissue mechanics n Real-time interactivity against Accuracy n Accuracy à comprehensive modeling n Real-time à 30 Hz for graphics, 1000 Hz for haptics feedback devices

Dilemmas in Surgical Training on cadaver? ● limited supply o no dynamic conditions on animal? o different from human o no complications on real patient? omay harm patients ● non-repeatable

Dilemmas in Surgical Training on cadaver? l limited supply l no dynamic conditions on animal? l different from human l no complications on real patient? l may harm patients l non-repeatable

Virtual Reality based Solution Deliver cost-effeetive medical learming with integrated software and bardware in a 3D virtual space Surgical Learning Training Integrate as standard teaching eurrieulum Improved patient safety

Virtual Reality based Solution Deliver cost-effective medical learning n with integrated software and hardware n in a 3D virtual space Surgical Learning & Training Integrate as standard teaching curriculum l Improved patient safety

Surgical Simulation Research Classification of Surgical Simulation Needle-base surgical simulation Minimally Invasive Surgery Simulation Open Surgery Simulation ■ Components of Surgical Simulation Deformation Models ■Collision Detection Virtual and Haptic Display ■Evaluation

Surgical Simulation Research n Classification of Surgical Simulation n Needle-base surgical simulation n Minimally Invasive Surgery Simulation n Open Surgery Simulation n Components of Surgical Simulation n Deformation Models n Collision Detection n Virtual and Haptic Display n Evaluation

Needle-based Surgical Simulation Use needles,catheters,guidewires and other small bore instruments Relatively inexpensive ■Cases ■Vascular Access ■Pericardiocentesis ■ Diagnostic peritoneal lavage U S U/N C A Medioal Simation

Needle-based Surgical Simulation n Use needles, catheters, guidewires and other small bore instruments n Relatively inexpensive n Cases n Vascular Access n Pericardiocentesis n Diagnostic peritoneal lavage

Minimally Invasive Surgery Simulation Features Use specially designed instruments. Visual feedback is obtained via inserted scopes,cameras or fiber- optic devices These instruments have a limited range of motion. Limitation Surgical effects:bleeding,blood pooling,tissues tearing ■ Real-time tissue and organ deformation are generally limited to specific organs.Arteries,dusts and other tubular structures

Minimally Invasive Surgery Simulation Features n Use specially designed instruments. n Visual feedback is obtained via inserted scopes, cameras or fiber￾optic devices . n These instruments have a limited range of motion. Limitation n Surgical effects: bleeding, blood pooling, tissues tearing n Real-time tissue and organ deformation are generally limited to specific organs. Arteries, dusts and other tubular structures

Open Surgery Simulation Open surgery requires larger incisions in the body. The virtual field,range of haptic feedback and freedom of motion are larger ■ Cases vascular anastomosis simulators ■ abdominal trauma simulators

Open Surgery Simulation n Open surgery requires larger incisions in the body. n The virtual field, range of haptic feedback and freedom of motion are larger n Cases n vascular anastomosis simulators n abdominal trauma simulators