title: Virtual reality surgical simulation for lower urinary tract endoscopy and procedures.
abstract: OBJECTIVE
  To provide a realistic experience of lower urinary tract endoscopic procedures, we have developed and continue to expand a computer-based surgical simulator that incorporates a surgical tool interface with anatomic detail and haptic feedback.
  
  
  METHODS
  Surface-based geometric data for the lower urinary tract were generated from the National Library of Medicine Visible Human dataset. The three-dimensional texture map of the surface geometry was developed from recorded endoscopic video procedures. Geometry and associated texture maps were rendered in real time using the Silicon Graphics Extreme Impacts program. The surgical interface device incorporated all normal ranges of motion and resistance that occur within an actual operative environment. The hands-on endoscopic device attached to the interface device was provided by Circon-ACMI, Inc. Urologic residents evaluated the program for correlation with actual endoscopic procedures.
  
  
  RESULTS
  Texture-mapped digitized images provided a close anatomic similarity to actual videoendoscopic images. Virtual endoscopy of the lower urinary tract was reproducible and closely simulated actual visual and tactile endoscopic experience.
  
  
  CONCLUSIONS
  Virtual reality surgical simulation is feasible for a variety of lower urinary tract procedures. This system coordinates visual perception with appropriate haptic feedback in both longitudinal and rotational axes. These types of procedures may be incorporated into future educational experiences for urologists to introduce new techniques and to provide documentation of surgical experience.
authors.affiliation: Department of Urology, The George Washington University Medical Center, Washington, DC 20037, USA.
authors.forename: Michael J
authors.initials: MJ
authors.lastname: Manyak
authors.forename: Kristin
authors.initials: K
authors.lastname: Santangelo
authors.forename: James
authors.initials: J
authors.lastname: Hahn
authors.forename: Roger
authors.initials: R
authors.lastname: Kaufman
authors.forename: Thurston
authors.initials: T
authors.lastname: Carleton
authors.forename: Xing Cheng
authors.initials: XC
authors.lastname: Hua
authors.forename: Raymond J
authors.initials: RJ
authors.lastname: Walsh
mesh_terms: D000328:Adult; D019412:Anatomy, Cross-Sectional / Q000193:education*; D016287:Computer Peripherals; D003198:Computer Simulation; D004724:Endoscopy; D006801:Humans; D007396:Internship and Residency / Q000379:methods; D008297:Male; D014551:Urinary Tract / Q000033:anatomy & histology / Q000601:surgery*; D013520:Urologic Surgical Procedures / Q000193:education*; D014572:Urology / Q000193:education; D014584:User-Computer Interface