Liver surface deformation model for minimally invasive surgery

The enormous number of advantages of minimally invasive surgery leads to the development of computer systems that are helpful tools during laparoscopic operations. In the paper a liver deformation model has been proposed including the shape deflection of the liver surface while inserting a tool into the organ and extracting it. The model is an answer to the need of better visualization during endoscopic surgery. The desired solution to this issue should be both fast and accurate. The existing solutions to the problem of internal organ deformation were briefly presented. The proposed model is an extension of previously introduced liver deflection models [5], [4], which have been enriched by calculating the shape of liver surface after breaking the organ structure. The main assumptions of the model have been specified. Essential mathematical transformations have been discussed. The correctness of the new model has been verified using US images of a liver while pushing and pulling a laparoscopic tool inside the organ. Pictures included in the paper enable the visual comparison of the real deformation with the one calculated using the new model.

[1]  Jan Juszczyk,et al.  Parametric Curves in Liver Deformation for Laparoscopic Purposes , 2010 .

[2]  Stephane Cotin,et al.  A hybrid elastic model for real-time cutting, deformations, and force feedback for surgery training and simulation , 2000, The Visual Computer.

[3]  C Basdogan,et al.  Force interactions in laparoscopic simulations: haptic rendering of soft tissues. , 1998, Studies in health technology and informatics.

[4]  Mathieu Desbrun,et al.  Interactive multiresolution animation of deformable models , 1999, Computer Animation and Simulation.

[5]  Norimichi Tsumura,et al.  Real Time Deformation Model of Liver Based on Structural Mechanics for Medical Training Systems and Its Accuracy Evaluation , 2007 .

[6]  Christian Laugier,et al.  Modeling the Dynamics of a Human Liver for a Minimally Invasive Surgery Simulator , 1999, MICCAI.

[7]  Norimichi Tsumura,et al.  Real-time deformations of organ based on structural mechanics for surgical simulators , 2006, SPIE Medical Imaging.

[8]  Hervé Delingette,et al.  Nonlinear and anisotropic elastic soft tissue models for medical simulation , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[9]  Monika Bugdol,et al.  Liver Tumour Movement Modelling for Laparoscopic Surgery Purposes , 2010 .

[10]  Leonard McMillan,et al.  Stable real-time deformations , 2002, SCA '02.

[11]  Morten Bro-Nielsen,et al.  Real‐time Volumetric Deformable Models for Surgery Simulation using Finite Elements and Condensation , 1996, Comput. Graph. Forum.

[12]  Herve Delingette,et al.  Real-Time Elastic Deformations of Soft Tissues for Surgery Simulation , 1999, IEEE Trans. Vis. Comput. Graph..