Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30172
Real-time Haptic Modeling and Simulation for Prosthetic Insertion

Authors: Catherine A. Todd, Fazel Naghdy

Abstract:

In this work a surgical simulator is produced which enables a training otologist to conduct a virtual, real-time prosthetic insertion. The simulator provides the Ear, Nose and Throat surgeon with real-time visual and haptic responses during virtual cochlear implantation into a 3D model of the human Scala Tympani (ST). The parametric model is derived from measured data as published in the literature and accounts for human morphological variance, such as differences in cochlear shape, enabling patient-specific pre- operative assessment. Haptic modeling techniques use real physical data and insertion force measurements, to develop a force model which mimics the physical behavior of an implant as it collides with the ST walls during an insertion. Output force profiles are acquired from the insertion studies conducted in the work, to validate the haptic model. The simulator provides the user with real-time, quantitative insertion force information and associated electrode position as user inserts the virtual implant into the ST model. The information provided by this study may also be of use to implant manufacturers for design enhancements as well as for training specialists in optimal force administration, using the simulator. The paper reports on the methods for anatomical modeling and haptic algorithm development, with focus on simulator design, development, optimization and validation. The techniques may be transferrable to other medical applications that involve prosthetic device insertions where user vision is obstructed.

Keywords: Haptic modeling, medical device insertion, real-time visualization of prosthetic implantation, surgical simulation.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1327674

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1601

References:


[1] B. Pflesser, A. Petersik, U. Tiede, K. H. Hohne and R Leuwer, "Volume cutting for virtual petrous bone surgery," Computer Aided Surgery, vol. 7, pp. 74-83, 2002.
[2] J. Wiet, D. Stredney, D. Sessanna, J. A. Bryan, D. B. Welling and P. Schmalbrock, "Virtual temporal bone dissection: an interactive surgical simulator," Otolaryngology - Head and Neck Surgery, vol. 127, pp. 79- 83, 2002.
[3] A. Petersik, B. Pflesser, U. Tiede, K. H. Hohne and R. Leuwer, "Realistic haptic interaction in volume sculpting for surgery simulation," Surgery Simulation and Soft Tissue Modeling, International Symposium (IS4TH 2003), pp. 194-202, 2003.
[4] W. John, N. Thacker, M. Pokric, et al., "An integrated simulator for surgery of the petrous bone," Medicine Meets Virtual Reality 2001, pp. 218-224, 2001.
[5] M. Agus, A. Giachetti, E. Gobbetti, G. Zanetti and A. Zorcolo, "Realtime haptic and visual simulation of bone dissection," Presence, vol. 12, pp. 110-122, 2003.
[6] M. Hutchins, S. O'Leary, D. Stevenson, C. Gunn and A. Krumpholz., "A networked haptic virtual environment for teaching temporal bone surgery," Medicine Meets Virtual Reality (MMVR) 13, pp. 204-207, 2005.
[7] A. Pommert, K. H. Höhne, E. Burmester, S. Gehrmann, R. Leuwer, A. Petersik, B. Pflesser and U. Tiede, "Computer-based anatomy: a prerequisite for computer-assisted radiology and surgery," Academic Radiology, vol. 13, pp. 104-112, 2006.
[8] Kim, S. De and M. A. Srinivasan, "Computationally efficient techniques for real time surgical simulation with force feedback," Proceedings of the 10th Symp. On Haptic Interfaces for Virtual Envir. & Teleoperator Systs. (Haptics '02), pp. 51-57, 2002.
[9] G. Burdea, G. Patounakis, V. Popescu and R. E. Weiss, "Virtual realitybased training for the diagnosis of prostate cancer," IEEE Transactions on Biomedical Engineering, vol. 46, pp. 1253-1260, 1999.
[10] A. Chanda and T. Kesavadas, "Real-time volume haptic rendering of non-linear viscoelastic behavior of soft tissue through dynamic atomic unit approach," Medicine Meets Virtual Reality 12, Newport Beach, California, pp. 16-17, 2004.
[11] Y. Kuroda, M. Nakao, T. Kuroda, H. Ovama and M. Komori, "Interaction model between elastic objects for haptic feedback considering collisions of soft tissue," Computer Methods and Programs in Biomedicine, vol. 80, pp. 216-224, 2005.
[12] Y.-J. Lim and S. De, "Nonlinear tissue response modeling for physically realistic virtual surgery using PAFF," First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC 2005), pp. 479-480, 2005.
[13] M. O. Alhalabi, V. Daniulaitis, H. Kawasaki and T. Hori, "Medical training simulation for palpation of subsurface tumor using HIRO," First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC 2005), pp. 623- 624, 2005.
[14] S. P. DiMaio and S. E. Salcudean, "Interactive simulation of needle insertion models," IEEE Transactions on Biomedical Engineering, vol. 52, pp. 1167-1179, 2005.
[15] K.-U. Kyung, D.-S. Kwon, S.-M. Kwon, H. S. Kang and J. B. Ra, "Force feedback for a spine biopsy simulator with volume graphic model," IEEE International Conference on Intelligent Robots and Systems, pp. 1732- 1737, 2001.
[16] E. Gobbetti, M. Tuveri, G. Zanetti and A. Zorcolo, "Catheter insertion simulation with co-registered direct volume rendering and haptic feedback," Medicine Meets Virtual Reality 2000 - Envisioning Healing: Interactive Technology and the Patient-Practioner Dialogue, pp. 96-98, 2000.
[17] X. Wang and A. Fenster, "A virtual reality based 3D real-time interactive brachytherapy simulation of needle insertion and seed implantation," IEEE International Symposium on Biomedical Imaging: Macro to Nano, pp. 280-283, 2004.
[18] P.-A. Heng and T.-T. Wong, "Intelligent inferencing and haptic simulation for chinese acupuncture learning and training," IEEE Transactions on Information Technology in Biomedicine, pp. 1-1, 2005.
[19] F. P. Vidal, N. Chalmers, D. A. Gould, A. E. Healey and N. W. John, "Developing a needle guidance virtual environment with patient-specific data and force feedback," International Congress Series, vol. 1281, pp. 418-423, 2005.
[20] W. Chou and T. Wang, "Human-computer interactive simulation for the training of minimally invasive neurosurgery," IEEE International Conference on Systems, Man and Cybernetics, pp. 1110-1115, 2003.
[21] P. Gorman, T. Krummel, R. Webster, M. Smith and D. Hutchens, "A prototype haptic lumbar puncture simulator," Medicine Meets Virtual Reality (MMVR), pp. 106-109, 2000.
[22] A. Zorcolo, E. Gobbetti, G. Zanetti and M. Tuveri, "A volumetric virtual environment for catheter insertion simulation," Virtual Environments 2000, Proceedings of the Eurographics Workshop, Amsterdam, the Netherlands, 2000.
[23] Aloisio, L. Barone, M. Bergamasco, C. A. Avizzano, L. T. De Paolis, M. Franceschini, A. Mongelli, G. Pantile, L. Provenzano and M. Raspolli, "Computer-based simulator for catheter insertion training," Medicine Meets Virtual Reality 12, pp. 4-6, 2004.
[24] M. Brahim and Y. Amirat, "Interactive navigation control with haptic rendering of endovascular treatment," IEEE Conference on Robotics, Automation and Mechatronics, pp. 60-64, 2004.
[25] D. d'Aulignac, R. Balaniuk and C. Laugier, "A haptic interface for a virtual exam of the human thigh," IEEE International Conference on Robotics and Automation (ICRA), pp. 2452-2457, 2000.
[26] U. K├╝hnapfel, H. K. ├çakmak and H. Maaß, "Endoscopic surgery training using virtual reality and deformable tissue simulation," Computers & Graphics, vol. 24, pp. 671-682, 2000.
[27] G. Gopalakrishnan and V. Devarajan, "StapSim: A virtual reality-based stapling simulator for laparoscopic herniorrhaphy," Medicine Meets Virtual Reality 12, Newport Beach, California, pp. 111-113, 2004.
[28] C. Basdogan, C.-H. Ho and M. A. Srinivasan, "Virtual environments for medical training: graphical and haptic simulation of laparoscopic common bile duct," IEEE/ASME Transactions on Mechatronics, vol. 6, pp. 269-285, 2001.
[29] Zhang 2004 H. Zhang, S. Payandeh, J. Dill and A. J. Lomax, "Acquiring laparoscopic manipulative skills: a virtual tissue dissection training module," Medicine Meets Virtual Reality 12, pp. 419-421, 2004.
[30] C. Gunn, M. Hutchins, M. Adcock and R. Hawkins, "Surgical training using haptics over long internet distances," Medicine Meets Virtual Reality 12, pp. 121-123, 2004.
[31] M. P. Ottensmeyer, E. Ben-Ur and J. K. Sailsbury, "Input and output for surgical simulation: devices to measure tissue properties in vivo and a haptic interface for laparoscopy simulators," Medicine Meets Virtual Reality, pp. 236-242, 2000.
[32] H. Maaß, H. ├çakmak, U. K├╝hnapfel, C Trantakis and G. Strauss, "Providing more possibilities for haptic devices in surgery simulation," International Congress Series, vol. 1281, pp. 725-729, 2005.
[33] M. Bro-Nielsen, D. Helfrick, B. Glass, X. Zeng and H. Connacher, "VR simulation of abdominal trauma surgery," Medicine Meets Virtual Reality (MMVR), pp. 117-123, 1998.
[34] B. K. Chen, G. M. Clark and R. Jones, "Evaluation of trajectories and contact pressures for the straight nucleus cochlear implant electrode array - a two-dimensional application of finite element analysis," Medical Engineering & Physics, vol. 25, pp. 141-147, 2003.
[35] S. K. Yoo, G. Wang, J. T. Rubinstein and M. W. Vannier, "Threedimensional geometric modeling of the cochlea using helico-spiral approximation," IEEE Transactions on Biomedical Engineering, vol. 47, pp. 1392-1402, 2000.
[36] D. R. Ketten, M. W. Skinner, G. Wang and M. W. Vannier, "In vivo measures of cochlear length and insertion depth of nucleus cochlear implant electrode arrays," Annals of Otology, Rhinology & Laryngology, vol. 107, pp. 1-16, 1998.
[37] L. T. Cohen, J. Xu, S. A. Xu and G. M. Clark, "Improved and simplified methods for specifying positions of the electrode bands of a cochlear implant array," The American Journal of Otology, vol. 17, pp. 859-865, 1996.
[38] A. Kawano, H. L. Seldon and G. M. Clark, "Computer-aided threedimensional reconstruction in human cochlear maps: measurement of the lengths of organ of corti, outer wall, inner wall, and rosenthal's canal," Annals of Otology, Rhinology & Laryngology, vol. 105, pp. 701-709, 1996.
[39] J. T. Vrabec, S. W. Champion, J. D. Gomez, R. F. Johnson Jr, G. Chaljub, "3D CT imaging method for measuring temporal bone aeration", Acta Oto-Laryngologica, vol. 122, no. 8, pp. 831-835, 2002.
[40] E. Givelberg and J. Bunn, "Computational experiments with a threedimensional model of the cochlea," Technical Report, California Institute of Technology, Caltech CACR, 2004.
[41] S.-I. Hatsushika, R. K. Shepherd, Y. C. Tong, G. M. Clark and S. Funasaka, "Dimensions of the scala tympani in the human and cat with reference to cochlear implants," Annals of Otology, Rhinology & Laryngology, vol. 99, pp. 871-876, 1990.
[42] H. M. Ladak, "Finite-element modelling of middle-ear prostheses in cats", Masters Thesis, Montreal, Canada, McGill University, 1993.
[43] R. Lakes, H. S. Yoon and J. L. Katz, "Ultrasonic wave propagation and attenuation in wet bone," Journal of Biomedical Engineering, vol. 8, pp. 143-148, 1986.
[44] J. Raethjen, F. Pawlas, M. Lindemann, R. Wenzelburger and G. Deuschl, "Determinants of physiologic tremor in a large normal population," Clinical Neurophysiology, vol. 111, pp. 1825-1837, 2000.
[45] H. N. Kha, B. K. Chen, G. M. Clark and R. Jones, "Stiffness properties for nucleus standard straight and contour electrode arrays," Medical Engineering & Physics, vol. 26, pp. 677-685, 2004.