Real-time, haptics-enabled simulator for probing ex vivo liver tissue.
The advent of complex surgical procedures has driven the need for realistic surgical training simulators. Comprehensive simulators that provide realistic visual and haptic feedback during surgical tasks are required to familiarize surgeons with the procedures they are to perform. Complex organ geometry inherent to biological tissues and intricate material properties drive the need for finite element methods to assure accurate tissue displacement and force calculations. Advances in real-time finite element methods have not reached the state where they are applicable to soft tissue surgical simulation. Therefore a real-time, haptics-enabled simulator for probing of soft tissue has been developed which utilizes preprocessed finite element data (derived from accurate constitutive model of the soft-tissue obtained from carefully collected experimental data) to accurately replicate the probing task in real-time.
Lister
Kevin
K
Robotics, Automation Manipulation and Sensing Laboratory at the University of Maryland, College Park, MD 20742, USA. klister@umd.edu
Gao
Zhan
Z
Desai
Jaydev P
JP
D001698:Biomedical Engineering; D055592:Biophysical Phenomena; D003198:Computer Simulation; D003194:Computer-Assisted Instruction / Q000379:methods*; D013505:Digestive System Surgical Procedures / Q000193:education*; D020342:Finite Element Analysis; D006801:Humans; D066298:In Vitro Techniques; D008099:Liver / Q000033:anatomy & histology / Q000502:physiology / Q000601:surgery*; D013514:Surgical Procedures, Operative / Q000193:education