Catheter insertion simulation with co-registered direct volume rendering and haptic feedback.
We have developed an experimental catheter insertion simulation system supporting head-tracked stereoscopic viewing of volumetric anatomic reconstructions registered with direct haptic 3D interaction. The system takes as input data acquired with standard medical imaging modalities and regards it as a visual and haptic environment whose parameters are interactively defined using look-up tables. The system's display, positioned like a surgical table, provide a realistic impression of looking down at the patient. Measuring head motion via a six degrees-of-freedom head tracker, good positions to observe the anatomy and identify the catheter insertion point are quickly established with simple head motion. By generating appropriate stereoscopic images and co-registering physical and virtual spaces beforehand, volumes appear at fixed physical positions and it is possible to control catheter insertion via direct interaction with a PHANToM haptic device. During the insertion procedure, the system provides perception of the effort of penetration and deviation inside the traversed tissues. Semi-transparent volumetric rendering augment the sensory feedback with the visual indication of the inserted catheter position inside the body.
Gobbetti
E
E
Center for Advanced Studies, Research and Development, Sardinia, Uta, Italy. Enrico@crs4.it
Tuveri
M
M
Zanetti
G
G
Zorcolo
A
A
D002406:Catheterization, Peripheral; D003198:Computer Simulation; D005246:Feedback; D006801:Humans; D007091:Image Processing, Computer-Assisted; D008953:Models, Anatomic; D019047:Phantoms, Imaging; D012984:Software; D014584:User-Computer Interface