Evaluation of Direct Haptic 4D Volume Rendering of Partially Segmented Data for Liver Puncture Simulation
Evaluation of Direct Haptic 4D Volume Rendering of Partially Segmented Data for Liver Puncture Simulation
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DOI：
10.1038/s41598-017-00746-z
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发表时间：
2017-04-06
影响因子：
4.6
通讯作者：
Handels, Heinz
中科院分区：
文献类型：
--
作者：
Mastmeyer, Andre;Fortmeier, Dirk;Handels, Heinz
这项工作提出了一种新的直接针力体积绘制概念的力反馈评估框架在肝脏穿刺术模拟的背景下进行的评估研究。已选择以胆管为靶点的PTC/PTCD穿刺术来说明这一概念。该模拟器系统的触觉算法基于(1)部分分割的患者图像数据和(2)在器官边界有效的非线性弹簧模型。主要目的是定量评估我们的患者建模方法引起的力误差，并与使用黄金标准的、完全手动分割的数据获得的触觉力输出进行比较。与完全手动分段的黄金标准患者模型的力输出相比，力算法的评估会产生0.12N的均方根力误差，系统最大绝对误差最高可达1.6N。对来自10名患者的31,222条预先计划的测试路径进行了力误差评估。在这些路径上发射的部队中，只有12%受到误差的影响。这是第一次在硅胶中对可变形的虚拟患者进行触觉算法评估的研究。我们在大量的测试路径上证明了触觉渲染的可行性。重要的错误在手-臂系统的显著差异之下。
This work presents an evaluation study using a force feedback evaluation framework for a novel direct needle force volume rendering concept in the context of liver puncture simulation. PTC/PTCD puncture interventions targeting the bile ducts have been selected to illustrate this concept. The haptic algorithms of the simulator system are based on (1) partially segmented patient image data and (2) a non-linear spring model effective at organ borders. The primary aim is to quantitatively evaluate force errors caused by our patient modeling approach, in comparison to haptic force output obtained from using gold-standard, completely manually-segmented data. The evaluation of the force algorithms compared to a force output from fully manually segmented gold-standard patient models, yields a low mean of 0.12 N root mean squared force error and up to 1.6 N for systematic maximum absolute errors. Force errors were evaluated on 31,222 preplanned test paths from 10 patients. Only twelve percent of the emitted forces along these paths were affected by errors. This is the first study evaluating haptic algorithms with deformable virtual patients in silico. We prove haptic rendering plausibility on a very high number of test paths. Important errors are below just noticeable differences for the hand-arm system.