TY - GEN
T1 - Deformation of the catheter and 3D blood vessel model for a VR-based Catheter System
AU - Guo, Shuxiang
AU - Qu, Mohan
AU - Gao, Baofeng
AU - Guo, Jin
PY - 2013
Y1 - 2013
N2 - There is an increasing realization that Minimally Invasive Surgery (MIS) is a specialized surgical technique that permits vascular interventions through very small incisions. Some operational tasks can be performed significantly better by robots than humans due to associated hazards and distance. However, the significant disadvantage of this surgical technique is its complexity; therefore, extensive training before surgery is necessary. At present, the operator can only determine the required action by visually examining in remote side which limits the task. In this paper, we present virtual reality technology based simulators for doctor training with force feedback in minimally invasive surgery. The simulators allow generating realistic physical-based model of the catheter and blood vessels, and enabling surgeons to touch, feel and manipulate the virtual catheter inside vascular model according to the same surgical operation mode used in actual MIS. The design of the VR system and initial experimental results are presented in experiments part of this paper. And the experimental results show that the error rate varies among an acceptable range and the simulators can be used for surgical training.
AB - There is an increasing realization that Minimally Invasive Surgery (MIS) is a specialized surgical technique that permits vascular interventions through very small incisions. Some operational tasks can be performed significantly better by robots than humans due to associated hazards and distance. However, the significant disadvantage of this surgical technique is its complexity; therefore, extensive training before surgery is necessary. At present, the operator can only determine the required action by visually examining in remote side which limits the task. In this paper, we present virtual reality technology based simulators for doctor training with force feedback in minimally invasive surgery. The simulators allow generating realistic physical-based model of the catheter and blood vessels, and enabling surgeons to touch, feel and manipulate the virtual catheter inside vascular model according to the same surgical operation mode used in actual MIS. The design of the VR system and initial experimental results are presented in experiments part of this paper. And the experimental results show that the error rate varies among an acceptable range and the simulators can be used for surgical training.
KW - Catheter
KW - Minimally Invasive Surgery (MIS)
KW - Virtual Reality based Robotic Catheter System
UR - http://www.scopus.com/inward/record.url?scp=84887977192&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2013.6618028
DO - 10.1109/ICMA.2013.6618028
M3 - Conference contribution
AN - SCOPUS:84887977192
SN - 9781467355582
T3 - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
SP - 861
EP - 866
BT - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
T2 - 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Y2 - 4 August 2013 through 7 August 2013
ER -