Proposal of Simulation-Based Surgical Navigation and Development of Laparoscopic Surgical Simulator that Reflects Motion of Surgical Instruments in Real-World-Reference-Cited by-同舟云学术

Proposal of Simulation-Based Surgical Navigation and Development of Laparoscopic Surgical Simulator that Reflects Motion of Surgical Instruments in Real-World

Published:2023-05-05 Issue:3 Volume:17 Page:262-276
ISSN:1883-8022
Container-title:International Journal of Automation Technology
language:en
Short-container-title:IJAT

Author:

Shibuya Sayaka¹,Shido Noriyuki¹,Shirai Ryosuke¹,Sase Kazuya²^ORCID,Ebina Koki¹^ORCID,Chen Xiaoshuai³^ORCID,Tsujita Teppei⁴^ORCID,Komizunai Shunsuke¹^ORCID,Senoo Taku¹^ORCID,Konno Atsushi¹^ORCID

Affiliation:

1. Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan

2. Faculty of Engineering, Tohoku Gakuin University, Tagajo, Japan

3. Graduate School of Science and Technology, Hirosaki University, Hirosaki, Japan

4. Department of Mechanical Engineering, National Defense Academy of Japan, Yokosuka, Japan

Abstract

This study proposes simulation-based surgical navigation concept and describes the development of a laparoscopic surgical simulator that reflects the motion of surgical instruments in the real world. In the proposed simulation-based surgical navigation, movements of the surgical instruments are captured by a motion capture system, and the movements of the real surgical instruments are reflected in the movements of the virtual instruments in the simulation in real time. Contact of the virtual surgical instruments with organ model is detected based on the signed distance field (SDF) made around the organ model. The deformations of organs caused by contacts are calculated using dynamic finite element method (FEM). Using a cubic elastic object made of urethane resin, the accuracy of the calculation of the deformation was verified. The average error in the deformation verification experiments was within 1 mm. Simulations using hepato-biliary-pancreatic finite element (FE) models were performed, and computational costs of the simulation were validated. The time for one loop simulation with a hepato-biliary-pancreatic FE model of 3,225 elements and 1,663 nodes was 50 ms. The developed simulator can be applied to a simulation-based navigation system to update the states of organs in real time.

Funder

Japan Society for the Promotion of Science

JKA

Tateisi Science and Technology Foundation

Publisher

Fuji Technology Press Ltd.

Subject

Industrial and Manufacturing Engineering,Mechanical Engineering

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