Virtual reality simulation of robotic transsphenoidal brain tumor resection: Evaluating dynamic motion scaling in a master‐slave system

Background Integrating simulators with robotic surgical procedures could assist in designing and testing of novel robotic control algorithms and further enhance patient‐specific pre‐operative planning and training for robotic surgeries. Methods A virtual reality simulator, developed to perform the t...

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Veröffentlicht in:The international journal of medical robotics + computer assisted surgery Jg. 15; H. 1; S. e1953 - n/a
Hauptverfasser: Heredia‐Pérez, Saúl A., Harada, Kanako, Padilla‐Castañeda, Miguel A., Marques‐Marinho, Murilo, Márquez‐Flores, Jorge A., Mitsuishi, Mamoru
Format: Journal Article
Sprache:Englisch
Veröffentlicht: England Wiley Subscription Services, Inc 01.02.2019
John Wiley and Sons Inc
Schlagworte:
Algorithms
Brain - diagnostic imaging
Brain cancer
Brain damage
Brain Neoplasms - diagnostic imaging
Brain Neoplasms - surgery
Computer Simulation
Control algorithms
Deformation
Equipment Design
Humans
Motion
Movement
Neurosurgery
Original
Pituitary gland
Robot control
Robotic Surgical Procedures - methods
Robotics
Scaling
Simulators
Surgery
Telesurgery
Tumors
User-Computer Interface
Virtual Reality
ISSN:1478-5951, 1478-596X, 1478-596X
Online-Zugang:Volltext
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Zusammenfassung:Background Integrating simulators with robotic surgical procedures could assist in designing and testing of novel robotic control algorithms and further enhance patient‐specific pre‐operative planning and training for robotic surgeries. Methods A virtual reality simulator, developed to perform the transsphenoidal resection of pituitary gland tumours, tested the usability of robotic interfaces and control algorithms. It used position‐based dynamics to allow soft‐tissue deformation and resection with haptic feedback; dynamic motion scaling control was also incorporated into the simulator. Results Neurosurgeons and residents performed the surgery under constant and dynamic motion scaling conditions (CMS vs DMS). DMS increased dexterity and reduced the risk of damage to healthy brain tissue. Post‐experimental questionnaires indicated that the system was well‐evaluated by experts. Conclusion The simulator was intuitively and realistically operated. It increased the safety and accuracy of the procedure without affecting intervention time. Future research can investigate incorporating this simulation into a real micro‐surgical robotic system.
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Financial Support: ImPACT Program of Council for Science, Technology, and Innovation (Cabinet Office, Government of Japan). National Council on Science and Technology, Mexico. UNAM‐PAPIME, Mexico.
ISSN:1478-5951
1478-596X
1478-596X
DOI:10.1002/rcs.1953