Challenges in CISE: Virtual Environments for Telesurgery and Surgical Training: Efficient Computation, Visualization and Interaction

9726362 Barsky, Brian Sastry， S. Shankar加州大学伯克利分校CISE的挑战：远程外科手术的虚拟环境和外科训练：高效计算，可视化和交互本研究的重点是远程外科手术的虚拟环境，并将导致眼科和腹部手术的软件测试平台。这些试验台的开发依赖于以下研究活动的整合：组织建模和渲染。为了在虚拟环境中进行有效的手术训练，需要具有足够精度的可变形组织模型，同时需要足够快的速度进行实时交互。从固体行为的连续体模型开始，适当的近似将被开发出来，以解释在手术工具存在下组织的顺应性和器官的变形。表示和呈现组织形状的方法，特别是影响照明模型的方面，提供重要的视觉线索，将进行比较。与仿真模型的触觉交互。在柔顺表面的动觉感知和显示方面做的工作很少。将测量受试者在各种条件下的依从性感知，为对象建模算法、遥操作和高保真触觉显示方案提供要求。实时数据融合和三维可视化。尽管外科医生有多种可用的数据来源，但它们并没有整合到一个有用的3-D模型中。在手术过程中整合实时数据的一个主要困难是补偿由于可变形性引起的形状变化。容器和管道将用于提供路线图，以定位重要特征。模拟训练和互动。建模、渲染和显示因素，有助于环境，将有效的训练，但足够有效的运行在实时将被确定。使用一系列基本技能，这些因素对学生和经验丰富的外科医生的培训转移的贡献将进行实验研究。

9726362 Barsky, Brian Sastry, S. Shankar University of California, Berkeley Challenges in CISE: Virtual Environments for Telesurgery and Surgical Training: Efficient Computation, Visualization and Interaction This research is focused on virtual environments for telesurgery and will result in software testbeds for eye and abdominal surgery. The development of these testbeds depends on the integration of the following research activities: Tissue modeling and rendering. For effective surgical training in virtual environments, deformable models of tissue are needed with sufficient accuracy, yet fast enough for real time interaction. Beginning with continuum models of solid behavior, suitable approximations will be developed that account for the compliance of tissue and the deformation of organs in the presence of a surgical tool. Methods for representing and rendering tissue shape, especially aspects that affect lighting models that provide important visual cues, will be compared. Haptic interaction with simulated models. There has been little work done or kinesthetic perception and display of compliant surfaces. Subjects' perception of compliance will be measured under a variety of conditions to provide requirements for object modeling algorithms, and for teleoperation and haptic display schemes with high fidelity. Real time data fusion and 3-D visualization. Although surgeons have a variety of data sources available, they are not integrated into a useful 3-D model. A major difficulty in integrating real time data during surgery is compensating for shape changes due to deformability. Vessels and ducts will be used to provide road-maps to locate important features. Training and interaction with simulation. Modeling, rendering, and display factors that contribute to an environment that will be effective for training, yet efficient enough to run in real time will be determined. Using a set of fundamental skills, the contribution of these factors to training transfer in students and experienced surgeons will be experimentally studied.