TY - GEN
T1 - Mechanical analysis and haptic simulation of the catheter and vessel model for the MIS VR operation training system
AU - Gao, Baofeng
AU - Hu, Kangqi
AU - Guo, Shuxiang
AU - Xiao, Nan
PY - 2013
Y1 - 2013
N2 - The specialized surgical technique MIS that permits vascular interventions through very small incisions and minimizes the patients' trauma and permits a faster recovery compared to traditional surgery and it permits vascular interventions through very small incisions. In this paper, we present the mechanical analysis and haptic simulation of the catheter and vessel model for the MIS VR operation training system, this is based on virtual reality technology for unskilled doctors with extremely similar environment in real vascular interventional surgery to assess the clinical usefulness, accuracy, and safety of telemanipulation for vascular interventional surgery. It can be used for the interns to do the operation in local or remote training. It consists of a master controller system and the catheter manipulator placed at the patient side. The master side is the Robotic Catheter Master System, and slave side is the Virtual Reality based Robotic Catheter System. We want to build the vessel model, realize the 3D image output and catheter control of the Virtual Reality System. This application allows generating realistic geometrical model of catheter and model of blood vessels, and force feeling of surgeons to touch, and manipulates virtual catheter inside vascular model through the same surgical operation mode used in actual one. Finally, we complete the analysis and simulation of catheter control and mechanical design of the Virtual Reality based Robotic Catheter System and the experimental results show that the system can be used for surgery training.
AB - The specialized surgical technique MIS that permits vascular interventions through very small incisions and minimizes the patients' trauma and permits a faster recovery compared to traditional surgery and it permits vascular interventions through very small incisions. In this paper, we present the mechanical analysis and haptic simulation of the catheter and vessel model for the MIS VR operation training system, this is based on virtual reality technology for unskilled doctors with extremely similar environment in real vascular interventional surgery to assess the clinical usefulness, accuracy, and safety of telemanipulation for vascular interventional surgery. It can be used for the interns to do the operation in local or remote training. It consists of a master controller system and the catheter manipulator placed at the patient side. The master side is the Robotic Catheter Master System, and slave side is the Virtual Reality based Robotic Catheter System. We want to build the vessel model, realize the 3D image output and catheter control of the Virtual Reality System. This application allows generating realistic geometrical model of catheter and model of blood vessels, and force feeling of surgeons to touch, and manipulates virtual catheter inside vascular model through the same surgical operation mode used in actual one. Finally, we complete the analysis and simulation of catheter control and mechanical design of the Virtual Reality based Robotic Catheter System and the experimental results show that the system can be used for surgery training.
KW - Mechanical Analysis
KW - Minimally Invasive Surgery (MIS)
KW - Open Scene Graph (OSG)
KW - Training System
KW - Virtual Reality based Robotic Catheter System
UR - http://www.scopus.com/inward/record.url?scp=84887883920&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2013.6618113
DO - 10.1109/ICMA.2013.6618113
M3 - Conference contribution
AN - SCOPUS:84887883920
SN - 9781467355582
T3 - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
SP - 1372
EP - 1377
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 -