Haptic Simulator for Prostate Brachytherapy with Simulated Ultrasound

This paper presents a medical simulator for prostate brachytherapy procedure. Needles are inserted in deformable tissue models using a haptic device while the force feedback computed using a needle-tissue interaction model is rendered on the user's hand. Transrectal ultrasound images of the region of interest are also displayed in real-time using an interpolation scheme accounting for the mesh-based tissue deformation. Employing a 3D ultrasound volume data reconstructed a priori, this simulation method achieves realistic ultrasound feedback coupled with immediate tissue deformation. Models for simulating tissue deformation using the finite element method are obtained by segmented the relevant anatomy on MR slices. These models are rigidly registered to the ultrasound voxel volume using the prostate surface. The presented simulation system is suitable for brachytherapy training using haptic control/feedback. It can also be used for treatment planning.

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