A multi-body mass-spring model for virtual reality training simulators based on a robotic guide wire operating system
Generally, surgeons of minimally invasive surgery should possess good ability to coordinate their both hands. The manipulation of guide wire is considered a core skill. Obtaining that core skill to perform minimally invasive surgery requires training. In minimally invasive surgery, a surgical robot...
Uloženo v:
| Vydáno v: | 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) s. 2031 - 2036 |
|---|---|
| Hlavní autoři: | , , , , |
| Médium: | Konferenční příspěvek |
| Jazyk: | angličtina |
| Vydáno: |
IEEE
01.12.2013
|
| Témata: | |
| On-line přístup: | Získat plný text |
| Tagy: |
Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
|
| Shrnutí: | Generally, surgeons of minimally invasive surgery should possess good ability to coordinate their both hands. The manipulation of guide wire is considered a core skill. Obtaining that core skill to perform minimally invasive surgery requires training. In minimally invasive surgery, a surgical robot can assist doctors to position precisely and provide stable operation platform. Therefore, to develop a virtual reality simulators for training purpose based on a robotic guide wire operating system is an important and challenging subject. In this paper, a multi-body mass-spring model for simulating guide wire is presented and evaluated. In order to overcome the disadvantage of using mass-spring approach to model the guide wire, we propose a new collision detection algorithm and a new collision response algorithm. Finally, we test our guide wire with a complex and realistic 3D vascular model, which is selected from computer tomography database of real patients. The result shows that the virtual reality training simulators is effective and promising. |
|---|---|
| DOI: | 10.1109/ROBIO.2013.6739768 |