Simulating tele-manipulator controlled tool-tissue interactions using a nonlinear FEM deformable model.
Enhanced visualization of an operating scene presented by a robotically assisted tele-manipulator system such as the da Vinci(TM) can be provided through the use of augmented reality facilities. Generating overlays from 3D models and the intra-operative video allows the surgeon to acquire greater information about the surgical scene. Tool-tissue interactions must be tracked to ensure the overlays are updated regularly and accurately. The work presented here describes how these interactions may be modelled by integrating a nonlinear finite element model with the 3D reconstruction and using the tool kinematic data as input to the deformation.
Wang
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DA
Department of Biosurgery and Surgical Technology, Imperial College London, UK. dorothy.a.wang@imperial.ac.uk
Faraci
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A
Bello
F
F
Darzi
A
A
D003238:Connective Tissue; D020342:Finite Element Analysis; D006801:Humans; D021621:Imaging, Three-Dimensional; D008953:Models, Anatomic; D012371:Robotics; D014584:User-Computer Interface; D020535:Video-Assisted Surgery