Development of a 3 D blood vessel model for the Simulation of the Minimally Invasive Surgery

In this paper, we build one VR system which is used for the training of the interns to operate the Robotic Catheter System and improve the operational experience and auxiliary medical process for the minimally invasive surgery, uses the open source code DCMTK to read the information about DICOM file and carry out the CT image segmentation for the Virtual Reality based Robotic Catheter System. In order to get the vessel model, apply Open Scene Graph (OSG) to realize the 3D image output and catheter control of the Virtual Reality System, according to the 4 area method, blood vessel data can get from the text file,. Finally, the vessel model is used in the VR simulator for training surgery and the system is fit for training unskilled surgeons to do the operation of intravascular neurosurgery. Index Terms – minimally invasive surgery, DCMTK, virtual reality simulators,

[1]  Shuxiang Guo,et al.  Realization of a Catheter Driving Mechanism with Micro tactile sensor for Intravascular Neurosurgery , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[2]  Shuxiang Guo,et al.  The master-slave catheterisation system for positioning the steerable catheter , 2011, Int. J. Mechatronics Autom..

[3]  A. Gallagher,et al.  Approval of virtual reality training for carotid stenting: what this means for procedural-based medicine. , 2004, JAMA.

[4]  加藤 加代子.  Accuracy of plastic replica of aortic aneurysm using 3D-CT data for transluminal stent-grafting : Experimental and clinical evaluation , 2001 .

[5]  Tobias Ortmaier,et al.  Teleoperation Concepts in Minimal Invasive Surgery , 2001 .

[6]  Fumihito Arai,et al.  Augmentation of safety in teleoperation system for intravascular neurosurgery: a new control strategy for force display based on the variable impedance characterization , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[7]  R. Satava,et al.  Virtual Reality Training Improves Operating Room Performance: Results of a Randomized, Double-Blinded Study , 2002, Annals of surgery.

[8]  Javad Dargahi,et al.  Design and modeling of an endoscopic piezoelectric tactile sensor , 2005 .

[9]  T. Fukuda,et al.  Micro active catheter using ICPF actuator-characteristic evaluation, electrical model and operability evaluation , 1996, Proceedings of the 1996 IEEE IECON. 22nd International Conference on Industrial Electronics, Control, and Instrumentation.

[10]  Fumihito Arai,et al.  Distributed virtual environment for intravascular tele-surgery using multimedia telecommunication , 1996, Proceedings of the IEEE 1996 Virtual Reality Annual International Symposium.

[11]  Shuxiang Guo,et al.  A New Catheter Operating System for Medical Applications , 2007, 2007 IEEE/ICME International Conference on Complex Medical Engineering.

[12]  Jian Wang,et al.  A Novel Catheter Operating System with Force Feedback for Medical Applications , 2008, Int. J. Inf. Acquis..

[13]  A. Filler.  The History, Development and Impact of Computed Imaging in Neurological Diagnosis and Neurosurgery: CT, MRI, and DTI , 2009 .

[14]  Shuguo Wang,et al.  Skeleton‐based active catheter navigation , 2009, The international journal of medical robotics + computer assisted surgery : MRCAS.

[15]  Kazuhiro Kosuge,et al.  Micro active catheter system with multi degrees of freedom , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[16]  Shuxiang Guo,et al.  Highly Precise Catheter Driving Mechanism for Intravascular Neurosurgery , 2006, 2006 International Conference on Mechatronics and Automation.

[17]  Fumihito Arai,et al.  In vitro patient-tailored anatomical model of cerebral artery for evaluating medical robots and systems for intravascular neurosurgery , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Shuxiang Guo,et al.  A robotic catheter system with real-time force feedback and monitor , 2012, Australasian Physical & Engineering Sciences in Medicine.

[19]  J. S. Chen,et al.  Toward the identification of EMG-signal and its bio-feedback application , 2011, Int. J. Mechatronics Autom..

[20]  Maria Drangova,et al.  Design and Performance Evaluation of a Remote Catheter Navigation System , 2009, IEEE Transactions on Biomedical Engineering.

[21]  Fumihito Arai,et al.  New catheter driving method using linear stepping mechanism for intravascular neurosurgery , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[22]  Jan Peirs,et al.  A micro optical force sensor for force feedback during minimally invasive robotic surgery , 2003 .

[23]  Nan Xiao,et al.  A novel robotic catheter system with force and visual feedback for vascular interventional surgery , 2012, Int. J. Mechatronics Autom..