Interactive Hepatic Parenchymal Transection Simulation with Haptic Feedback
Interactive Hepatic Parenchymal Transection Simulation with Haptic Feedback
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DOI：
10.1016/j.vrih.2021.09.003
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发表时间：
2021-10
期刊：
影响因子：
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通讯作者：
H. Wu;Haonan Yu;Fan Ye;Jian Sun;Yuan Gao;Ke Tan;Aimin Hao
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作者：
H. Wu;Haonan Yu;Fan Ye;Jian Sun;Yuan Gao;Ke Tan;Aimin Hao
背景肝切除术是指切除部分肝脏.它用于治疗肝肿瘤和肝损伤。这种手术的复杂性和高风险性使新手医生无法在真实的病人身上实践。虚拟手术模拟被开发用于模拟外科手术，以使医疗专业人员能够在不需要患者、尸体或动物的情况下接受培训。因此，迫切需要开发一种肝切除手术仿真系统。我们提出了一个实时仿真系统，提供逼真的视觉和触觉反馈肝实质transference.MethodsThe四面体结构和基于簇的形状匹配的物理模型的建设，拓扑结构的三维肝脏模型软变形模拟更新，和触觉渲染加速。在肝实质分离模拟过程中，采用四面体网格对手术伤口进行曲面三角形剖分和曲面生成。形状匹配集群分离通过组件检测使用四面体mesh.ResultsIn我们的系统中，基于集群的形状匹配是在GPU上实现的，而触觉渲染和拓扑更新是在CPU上实现的。实验结果表明，触觉渲染可以在高频率（> 900 Hz），而网格皮肤和图形渲染可以在45 fps。拓扑更新可以在一个单一的CPU线程上以交互式的速率（>10Hz）执行。结论我们提出了一种基于四面体结构的交互式肝实质横断模拟方法。四面体网格同时支持物理模型构建、拓扑更新和触觉渲染加速。
BackgroundLiver resection involves surgical removal of a portion of the liver. It is used to treat liver tumors and liver injuries. The complexity and high-risk nature of this surgery prevents novice doctors from practicing it on real patients. Virtual surgery simulation was developed to simulate surgical procedures to enable medical professionals to be trained without requiring a patient, a cadaver, or an animal. Therefore, there is a strong need for the development of a liver resection surgery simulation system. We propose a real-time simulation system that provides realistic visual and tactile feedback for hepatic parenchymal transection.MethodsThe tetrahedron structure and cluster-based shape matching are used for physical model construction, topology update of a three-dimensional liver model soft deformation simulation, and haptic rendering acceleration. During the liver parenchyma separation simulation, a tetrahedral mesh is used for surface triangle subdivision and surface generation of the surgical wound. The shape-matching cluster is separated via component detection on an undirected graph constructed using the tetrahedral mesh.ResultsIn our system, cluster-based shape matching is implemented on a GPU, whereas haptic rendering and topology updates are implemented on a CPU. Experimental results show that haptic rendering can be performed at a high frequency (>900Hz), whereas mesh skinning and graphics rendering can be performed at 45fps. The topology update can be executed at an interactive rate (>10Hz) on a single CPU thread.ConclusionsWe propose an interactive hepatic parenchymal transection simulation method based on a tetrahedral structure. The tetrahedral mesh simultaneously supports physical model construction, topology update, and haptic rendering acceleration.