Multimodal simulation of laparoscopic Heller myotomy using a meshless technique.
In this work we focus our attention on developing a surgical simulator for performing laparoscopic Heller myotomy using force feedback. A meshless numerical technique, the method of finite spheres, is used for the purpose of physically based, real time haptic and graphical rendering of soft tissues. Localized discretization allows display of deformations in the vicinity of the tool tip as well as interaction forces at high update rates (kHz). Novel cutting algorithms are implemented using point-based representation of anatomical models. Graphical rendering is accomplished by using a recently developed volumetric rendering technique known as splatting.
Laboratory for Human and Machine Haptics, Massachusetts Institute of Technology, Cambridge, MA 02139, USA.
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Manivannan
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Kim
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Srinivasan
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Rattner
D003196:Computer Graphics; D003198:Computer Simulation; D004931:Esophageal Achalasia / Q000601:surgery*; D004947:Esophagus / Q000601:surgery; D005246:Feedback; D020342:Finite Element Analysis; D006801:Humans; D010535:Laparoscopy; D008432:Mathematical Computing; D009130:Muscle, Smooth / Q000601:surgery*; D014110:Touch; D014584:User-Computer Interface