Haptic Simulator for Prostate Brachytherapy with Simulated Needle and Probe Interaction

This paper presents a haptic simulator for prostate brachytherapy. Both needle insertion and the manipulation of the transrectal ultrasound (TRUS) probe are controlled via haptic devices. Tissue interaction forces that are computed by a deformable tissue model based on the finite element method (FEM) are rendered to the user by these devices. The needle insertion simulation employs 3D models of needle flexibility and asymmetric tip bevel. The needle-tissue simulation allows a trainee to practice needle insertion and targeting. The TRUS-tissue interaction simulation allows a trainee to practice the 3D intraoperative TRUS placement for registration with the preoperative volume study and to practice TRUS axial translation and rotation for imaging needles during insertions. Approaches to computational acceleration for realtime haptic performance are presented. Trade-offs between accuracy and speed are discussed. A graphics-card implementation of the numerically intensive mesh-adaptation operation is also presented. The simulator can be used for training, rehearsal, and treatment planning.

[1]  Allison M. Okamura,et al.  Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review , 2008, PRESENCE: Teleoperators and Virtual Environments.

[2]  Stephane Cotin,et al.  Interactive Simulation of Flexible Needle Insertions Based on Constraint Models , 2009, MICCAI.

[3]  Jin Seob Kim,et al.  Nonholonomic Modeling of Needle Steering , 2006, Int. J. Robotics Res..

[4]  Daniel Glozman,et al.  Flexible needle steering for percutaneous therapies , 2006, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[5]  Allison M. Okamura,et al.  Force modeling for needle insertion into soft tissue , 2004, IEEE Transactions on Biomedical Engineering.

[6]  Septimiu E. Salcudean,et al.  Interactive simulation of needle insertion models , 2005, IEEE Transactions on Biomedical Engineering.

[7]  Septimiu E. Salcudean,et al.  Needle insertion modeling and simulation , 2003, IEEE Trans. Robotics Autom..

[8]  Rajni V. Patel,et al.  Needle insertion into soft tissue: a survey. , 2007, Medical engineering & physics.

[9]  R. Vincent Leslie,et al.  Development of a Virtual Reality Haptic Veress Needle Insertion Simulator for Surgical Skills Training , 2009, MMVR.

[10]  L. Freitag,et al.  Tetrahedral mesh improvement via optimization of the element condition number , 2002 .

[11]  James F. O'Brien,et al.  Interactive simulation of surgical needle insertion and steering , 2009, ACM Trans. Graph..

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

[13]  David A. Forsyth,et al.  Generalizing motion edits with Gaussian processes , 2009, ACM Trans. Graph..

[14]  Orcun Goksel,et al.  Haptic Simulator for Prostate Brachytherapy with Simulated Ultrasound , 2010, ISMBS.

[15]  T. Podder,et al.  In vivo motion and force measurement of surgical needle intervention during prostate brachytherapy. , 2006, Medical physics.

[16]  Orcun Goksel,et al.  Image-Based Variational Meshing , 2011, IEEE Transactions on Medical Imaging.

[17]  Nele Famaey,et al.  Soft tissue modelling for applications in virtual surgery and surgical robotics , 2008, Computer methods in biomechanics and biomedical engineering.

[18]  Jaydev P. Desai,et al.  Reality-Based Estimation of Needle and Soft-Tissue Interaction for Accurate Haptic Feedback in Prostate Brachytherapy Simulation , 2005, ISRR.

[19]  Xiaogang Wang,et al.  A virtual reality based 3D real-time interactive brachytherapy simulation of needle insertion and seed implantation , 2004, 2004 2nd IEEE International Symposium on Biomedical Imaging: Nano to Macro (IEEE Cat No. 04EX821).

[20]  Septimiu E. Salcudean,et al.  Needle steering and motion planning in soft tissues , 2005, IEEE Transactions on Biomedical Engineering.

[21]  Maud Marchal,et al.  Needle-tissue interaction modeling using ultrasound-based motion estimation: Phantom study , 2008, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[22]  R. Laing,et al.  Prostate brachytherapy has come of age: a review of the technique and results , 2002, BJU international.

[23]  Kenneth Y. Goldberg,et al.  Motion Planning Under Uncertainty for Image-guided Medical Needle Steering , 2008, Int. J. Robotics Res..

[24]  J. Dankelman,et al.  Haptics in minimally invasive surgery – a review , 2008, Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy.

[25]  Orcun Goksel,et al.  3D simulation of needle-tissue interaction with application to prostate brachytherapy , 2006, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[26]  Orcun Goksel,et al.  Modeling and simulation of flexible needles. , 2009, Medical engineering & physics.

[27]  Asako Kimura,et al.  A Prostate Brachytherapy Training Rehearsal System - Simulation of Deformable Needle Insertion , 2002, MICCAI.

[28]  Toshikatsu Washio,et al.  A Model for Relations between Needle Deflection, Force, and Thickness on Needle Penetration , 2001, MICCAI.