Dynamic 3D haptic virtual fixtures for miniallu invasvive beating heart surgery

在加拿大和整个北美，心血管疾病是与疾病相关的死亡最常见的原因。传统手术通常是极具侵入性的开放式手术。微创心脏不停跳手术的最新进展为心血管疾病患者提供了一个令人兴奋和有希望的选择。该手术避免了胸骨切开手术和心肺机的使用。因此，它为患者提供了减少创伤、缩短康复时间和减少并发症等实质性好处。它还代表着加拿大医疗体系的长期财政节省。然而，它给外科医生带来了很大的困难，比如手眼协调性差，可操作性受到限制，以及缺乏触觉(力/触觉)反馈。这些挑战提出了手术安全性和精确度方面的关键问题。在未来，这些问题中的许多都可以通过使用触觉虚拟装置来解决，虚拟装置是计算机生成的信号，通过力/触觉反馈施加给外科医生。就像真正的固定装置一样，比如一把尺子引导着铅笔，虚拟固定装置仍然允许外科医生拥有最终的控制权。同时，它通过提供局部参考和限制手术工具的运动，扩大了他们的能力，提高了手术速度，并潜在地减轻了外科医生的精神压力。我们的研究旨在将虚拟固定装置更直接地应用到手术室(OR)，并研究适合外科医生和患者特定的虚拟固定装置。这项研究的长期目标包括：1)建立智能手术规划系统；2)开发具有极高精确度和安全性的手术程序；3)进行虚拟稳定的心脏不停跳手术。我们相信，该项目的成功完成将带来强大的工具，将显著提高微创手术和治疗的安全性和精确度水平。这项工作也代表了对触觉增强的患者特定虚拟现实手术环境的宝贵贡献。

Cardiovascular disease is the most frequent cause of illness-related death in both Canada and in North America as a whole. Conventional surgeries are usually open procedures that are extremely invasive. Recent progress with minimally invasive beating-heart surgery offers an exciting and promising option to patients with cardiovascular disease. This procedure avoids operation of a sternotomy and the use of a heart-lung machine. As a result, it provides the patients with substantial benefits such as reduced trauma, shorter recovery time and fewer complications. It also represents significant long-term fiscal savings for the Canadian healthcare system. However, it creates significant difficulties for the surgeon, such as poor hand-eye coordination, restricted maneuverability, and lack of haptic (force/tactile) feedback. These challenges raise critical issues in surgical safety and precision. In the future, many of these issues can be addressed through the use of haptic virtual fixtures, which are computer-generated signals applied to the surgeon through force/tactile feedback. As in the case of real fixtures, such as a ruler guiding a pencil, virtual fixtures still permit the surgeon to have ultimate control. At the same time, it extends their capability, enhances the speed of surgery, and potentially reduces the surgeon's mental stress by providing a local reference and restricting the motion of the surgical tool. Our research aims to apply virtual fixtures more directly to the operation room (OR) and investigate surgeon-friendly and patient-specific virtual fixtures. The long-term goals of this research include: 1) building intelligent surgical planning systems 2) developing procedures with ultimate precision and safety and 3) performing virtual stabilized beating-heart surgery. We believe that the successful completion of this project will result in powerful tools that will significantly improve the level of safety and precision in minimally invasive surgery and therapy. This work also represents a valuable contribution to the haptics-augmented patient-specific virtual reality surgery environment.