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...

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Bibliographic Details
Published in:2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 2031 - 2036
Main Authors: Shao-Hua Mi, Zeng-Guang Hou, Fan Yang, Xiao-Liang Xie, Gui-Bin Bian
Format: Conference Proceeding
Language:English
Published: IEEE 01.12.2013
Subjects:
Computational modeling
Force
Robots
Solid modeling
Training
Virtual reality
Wires
Online Access:Get full text
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Summary: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