JRM Vol.18 No.5 pp. 634-642
doi: 10.20965/jrm.2006.p0634


Soft Tissue Pushing Operation Using a Haptic Interface for Simulation of Brain Tumor Resection

Daisuke Sato, Ryosuke Kobayashi, Akira Kobayashi,
Shohei Fujino, and Masaru Uchiyama

Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6-01 Aoba-yama, Sendai 980-8579, Japan

January 25, 2006
April 14, 2006
October 20, 2006
surgery simulator, 6-DOF haptic interface, brain microsurgery

The goal of this research is development of a surgery simulator to train surgeons concretely in brain surgery under microscope so that they can pick up the skills needed for brain tumor resection more skillfully and in less time. For achieving this objective, in this paper, basic operations are selected for brain tumor resection based on actual surgery skills. To provide the visual and tactile sensations of brain surgery, we develop an interface consisting of a stereoptic head mounted display and a 6-DOF haptic device that feeds back position and force from a virtual environment. The models used to develop the virtual brain microsurgery environment include a geometrical model to produce numerical model shapes, a physical model to calculate model deformation and reaction force and collision detection used for simulating contact between the brain tissue model and the surgical instrument model. We also model brain tissue deformation for pushing aside tissues by a surgical instrument (brain spatula) to widen the operative field. Consequently, a system of surgery simulator is constructed by combining the interface with the virtual environment. The two experiments we conducted confirmed the feasibility of our proposed surgery simulator. One involves deformation and reaction force of brain tissue when an operator pushes two numerical models having different physical parameters. The other involves pushing aside brain tissue using brain spatula.

Cite this article as:
Daisuke Sato, Ryosuke Kobayashi, Akira Kobayashi,
Shohei Fujino, and Masaru Uchiyama, “Soft Tissue Pushing Operation Using a Haptic Interface for Simulation of Brain Tumor Resection,” J. Robot. Mechatron., Vol.18, No.5, pp. 634-642, 2006.
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