›› 2013,Vol. 28 ›› Issue (3): 499-507.doi: 10.1007/s11390-013-1351-3

所属专题： Computer Graphics and Multimedia

• Special Section on Selected Paper from NPC 2011 • 上一篇    下一篇

关于腹腔镜手术训练的胆囊切除模拟的混合建模方法

Youngjun Kim1, Dongjune Chang2, Jungsik Kim2, and Sehyung Park1   

  1. 1. Center for Bionics, Korea Institute of Science and Technology, Seoul 136-791, Korea;
    2. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 305-701, Korea
  • 收稿日期:2012-03-29 修回日期:2012-07-02 出版日期:2013-05-05 发布日期:2013-05-05
  • 作者简介:Youngjun Kim is a senior researcher in the Center for Bionics at Korea Institute of Science and Technology. He received his B.S. (2001), M.S. (2003), and Ph.D. (2009) degrees in mechanical engineering from Seoul National University, Korea. His research interests include 3D medical imaging, medical simulation and computer aided surgery.
  • 基金资助:

    This research was supported by the Ministry of Culture, Sports and Tourism and the Korea Creative Content Agency in the Culture Technology Research & Development Program 2009. This research was also supported in part by the Korea Institute of Science and Technology Institutional Program under Grant No. 2E23780.

Gallbladder Removal Simulation for Laparoscopic Surgery Training: A Hybrid Modeling Method

Youngjun Kim1, Dongjune Chang2, Jungsik Kim2, and Sehyung Park1   

  1. 1. Center for Bionics, Korea Institute of Science and Technology, Seoul 136-791, Korea;
    2. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 305-701, Korea
  • Received:2012-03-29 Revised:2012-07-02 Online:2013-05-05 Published:2013-05-05
  • Contact: 10.1007/s11390-013-1351-3
  • Supported by:

    This research was supported by the Ministry of Culture, Sports and Tourism and the Korea Creative Content Agency in the Culture Technology Research & Development Program 2009. This research was also supported in part by the Korea Institute of Science and Technology Institutional Program under Grant No. 2E23780.

PDF (PC)

1701

腹腔镜手术有很多优点,但外科医生很难通过它获得必需的外科手术技能。最近,虚拟训练模拟获得了极大关注,因为它们能给医科学生和外科医生新手提供一个安全和高效的学习环境。本文提出同时使用边界元法(BEM)和有限元法(FEM)的混合建模方法,以模拟胆囊切除。它根据人体器官的变形属性使用相应的建模方法：肝脏使用BEM,胆囊则使用FEM。在肝脏和胆囊之间的结缔组织同时包含在外科模拟中。在肝脏和胆囊模型的变形可通过使用质点弹簧方法的结缔组织弹簧传递。本文开发了特效和技术,可获得真实的模拟,且已整合软件到定制设计的触觉接口设备中,并在虚拟胆囊切除的腹腔镜手术训练中使用了多种计算机图形学技术。同时,本文描述了详细的技术和模拟的结果。

Abstract: Laparoscopic surgery has many advantages, but it is difficult for a surgeon to achieve the necessary surgical skills. Recently, virtual training simulations have been gaining interest because they can provide a safe and efficient learning environment for medical students and novice surgeons. In this paper, we present a hybrid modeling method for simulating gallbladder removal that uses both the boundary element method (BEM) and the finite element method (FEM). Each modeling method is applied according to the deformable properties of human organs: BEM for the liver and FEM for the gallbladder. Connective tissues between the liver and the gallbladder are also included in the surgical simulation. Deformations in the liver and the gallbladder models are transferred via connective tissue springs using a mass-spring method. Special effects and techniques are developed to achieve realistic simulations, and the software is integrated into a custom-designed haptic interface device. Various computer graphical techniques are also applied in the virtual gallbladder removal laparoscopic surgery training. The detailed techniques and the results of the simulations are described in this paper.

[1] Allard J,Cotin S, Faure F et al. Sofa——An open source framework for medical simulation. In Medicine Meets Virtual Reality 15, Westwood J D, Haluck R S, Hoffman H M et al. (eds), 2007, pp.13-18.

[2] Meier U, López O, Monserrat C, Juan M C, Alcañiz M. Real-time deformablemodels for surgery simulation: A survey. Computer Methods and Programs in Biomedicine, 2005, 77(3): 183-197.

[3] Mosegaard J. Cardiac surgery simulation——Graphics hardware meets congenitalheart disease [Ph.D. Thesis]. Department of Computer Science, University of Aarhus, Denmark, 2006.

[4] Schijven M, Jakimowicz J. Virtual reality surgical laparoscopic simulators: How to choose. Surgical Endoscopy, 2003, 17(12): 1943-1950.

[5] Basafa E, Farahmand F, Vossoughi G. A non-linear massspring model for morerealistic and efficient simulation of soft tissues surgery. Studies in Health Technologyand Informatics, 2008, 132: 23-25.

[6] Cotin S, Delingette H, Ayache H. Real-time elastic deformations of soft tissues for surgery simulation. IEEE Trans. Visualization and Computer Graphics, 1999, 5(1): 62-73.

[7] Cover S A, Ezquerra N F, O'Brien J F et al. Interactively deformable models for surgery simulation. IEEE Computer Graphics and Applications, 1993, 13(6): 68-75.

[8] Basdogan C, Ho C H, Srinivasan M A. Virtual environments for medical training: Graphical and haptic simulation of laparoscopic common bile duct exploration. Transactions on Mechatronics, 2001, 6(3): 269-285.

[9] Samur E, Sedef M, Basdogan C, Avtan L, Duzgun O. A robotic indenter for minimally invasive measurement and characterization of soft tissue response. Medical Image Analysis, 2007, 11(4): 361-373.

[10] James D L, Pai D K. Multiresolution green's function methods for interactive simulation of large-scale elastostatic objects. ACM Trans. Graphics, 2003, 22(1): 47-82.

[11] Chen E, Marcus B. Force feedback for surgical simulation. Proceedings of the IEEE, 1998, 86(3): 524-537.

[12] Kim J, Janabi-Sharifi F, Kim J. A haptic interaction method using visual information and physically based modeling. IEEE/ASME Trans. Mechatronics, 2010, 15(4): 636-645.

[13] Guibas L, Knuth D, Sharir M. Randomized incremental construction of Delaunay and Voronoi diagram. Algorithmica, 1992, 7(1/6): 381-413.

[14] Mafi R, Sirouspour S, Mahdavikhah B S, Moody B, Elizeh K, Kinsman A, Nicolici N. A parallel computing platform for real-time haptic interaction with deformable bodies. IEEE Trans. Haptics, 2010, 3(3): 211-223.

[15] Bathe K J. Finite Element Procedures. New Jersey: PrenticeHall, 1996.

[16] Shewchuk J R. An introduction to the conjugate gradient method without the agonizing pain. Technical Report, Carnegie Mellon University, USA, 1994.

[17] Carter F J, Frank T G, Davies P J et al. Biomechanical testing of intra-abdominal soft tissue. In Proc. Int. Workshop. Soft Tissue Deformation and Tissue Palpation, Oct. 1998.

[18] Rosen J, Brown J D, De S. Sinanan M, Hannaford B. Biomechanical properties of abdominal organs in vivo and postmortem under compression loads. Journal of Biomechanical Engineering, 2008, 130(2): 021020.

[19] Brown J D, Rosen J, Kim Y S et al. In-vivoand in-situ compressive properties of porcine abdominal soft tissues. In Medicine Meets Virtual Reality 11, Westwood J D, Ho?man H M, Mogel G T et al. (eds.), 2003, pp.26-32.

[20] Dan D. Caracterisation mecanique du foie humain en situation de choc [Ph.D. Thesis]. Universite Paris 7, France, 1999. (In French)

[21] Nava A, Mazza E, Kleinermann F, Avis N, McClure J. Determination of the mechanical properties of soft human tissues through aspiration experiments. In Proc. the 6th MICCAI 2003, Nov. 2003, pp.222-229.

[22] Ottensmeyer M P, Kerdok A E, Howe R D, Dawson S L. The effects of testing environment on the viscoelastic properties of soft tissues. In Proc. ISMS 2004, June 2004, pp.9-18.

[23] Tay B K, Kim J, Srinivasan M A. In vivo mechanical behavior of intraabdominal organs. IEEE Trans. Biom. Eng., 2006, 53(11): 2129-2138.

[24] Schwartz J M, Denninger M, Rancourt D, Moisan C, Laurendeau D. Modelling liver tissue properties using a non-linear visco-elastic model for surgery simulation. Medical Image Analysis, 2005, 9(2): 103-112.

[25] Kim Y J, Park S H, Kim L H et al. Multi-model structure and mapping method of liver model. In Proc Korean Society for Precision Engineering, May 2010.

[26] Teschner M, Kimmerle S, Zachmann G et al. Collision detection for deformable objects. Computer Graphics Forum, 2005, 24(1): 61-81.

[27] Kim Y J, Koo S O, Lee D H et al. Mesh-to-mesh collision detection by ray tracing for medical simulation with deformable bodies. In Proc. CyberWorlds, Oct. 2010, pp.60-66.

[28] Bruyns C D, Montgomery K. Generalized interactions using virtual tools within the spring framework: Probing, piercing, cauterizing and ablating. Studies in Health Technology and Informatics, 2002, 85: 74-78.

[29] Luo X, Li W, Bird N, Chin S B, Hill N A, Johnson A G. On the mechanical behavior of the human biliary system. World Journal of Gastroenterology, 2007, 13(9): 1384-1392.
No related articles found!
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] 张钹; 张铃;. Statistical Heuristic Search[J]. , 1987, 2(1): 1 -11 .
[2] 孟力明; 徐晓飞; 常会友; 陈光熙; 胡铭曾; 李生;. A Tree-Structured Database Machine for Large Relational Database Systems[J]. , 1987, 2(4): 265 -275 .
[3] 林琦; 夏培肃;. The Design and Implementation of a Very Fast Experimental Pipelining Computer[J]. , 1988, 3(1): 1 -6 .
[4] 孙成政; 慈云桂;. A New Method for Describing the AND-OR-Parallel Execution of Logic Programs[J]. , 1988, 3(2): 102 -112 .
[5] 张钹; 张恬; 张建伟; 张铃;. Motion Planning for Robots with Topological Dimension Reduction Method[J]. , 1990, 5(1): 1 -16 .
[6] 王鼎兴; 郑纬民; 杜晓黎; 郭毅可;. On the Execution Mechanisms of Parallel Graph Reduction[J]. , 1990, 5(4): 333 -346 .
[7] 周权; 魏道政;. A Complete Critical Path Algorithm for Test Generation of Combinational Circuits[J]. , 1991, 6(1): 74 -82 .
[8] 赵靓海; 刘慎权;. An Environment for Rapid Prototyping of Interactive Systems[J]. , 1991, 6(2): 135 -144 .
[9] 商陆军; 许立辉;. Notes on the Design of an Integrated Object-Oriented DBMS Family[J]. , 1991, 6(4): 389 -394 .
[10] 许建国; 郭玉钗; 林宗楷;. HEPAPS:A PCB Automatic Placement System[J]. , 1992, 7(1): 39 -46 .
版权所有 © 《计算机科学技术学报》编辑部
本系统由北京玛格泰克科技发展有限公司设计开发 技术支持：support@magtech.com.cn
总访问量：