iMSTK-based Microwave Ablation Training System for Liver Tumors

In this study, a training system was designed for liver tumor ablation based on iMSTK, a framework for the development of surgical simulation, to meet the training requirements of doctors for the microwave ablation surgery of liver tumors. Important organs such as the skin, bone, blood vessels, tumor, and liver were subjected to surface modeling and tetrahedral meshing. The constraint of the model based on position dynamics was added to the liver to simulate the flexible deformation of soft tissues under external forces. According to the Pennes bioheat equation, the release of the microwave ablation thermal field and the resulting ablation area were modeled. Then, a haptic device was combined to set different forces for various tissues and organs and simulate the force feedback effects of touching tissues and organs. Various modules were eventually coupled together to form a complete simulation system of liver tumor ablation. Results shown that the proposed training system could provide real and effective simulation for the microwave ablation of liver tumors. It also met the requirements for the preliminary training of doctors.