title: Development of a microsurgery training system.
abstract: Surgeons require significant training to acquire sufficient dexterity and hand-eye coordination to manipulate objects skillfully under the microscope. This paper presents a computer-based real-time simulation of microsurgery as well as the hardware setup. It presents a realistic physics-based elastic suture and blood vessel model, fast collision detection techniques, suture insertion process and novel approach of a haptic forceps. The simulation environment demonstrates a complete vascular suturing system to train skills such as grasping, suture placement, needle insertion and knot-tying running at 500 Hz, sufficient for physical realism.
authors.affiliation: Laboratoire de Systèmes Robotiques, Ecole Polytechnique Fédérale de Lausanne (EPFL), CH-1015, Switzerland. fei.wang@epfl.ch
authors.forename: Fei
authors.initials: F
authors.lastname: Wang
authors.forename: Eileen
authors.initials: E
authors.lastname: Su
authors.forename: Etienne
authors.initials: E
authors.lastname: Burdet
authors.forename: Hannes
authors.initials: H
authors.lastname: Bleuler
mesh_terms: D000714:Anastomosis, Surgical / Q000193:education; D001698:Biomedical Engineering; D003198:Computer Simulation; D003194:Computer-Assisted Instruction / Q000379:methods*; D006801:Humans; D008866:Microsurgery / Q000193:education*; D013536:Suture Techniques / Q000193:education; D014584:User-Computer Interface; D014656:Vascular Surgical Procedures / Q000193:education