Fast Surgical Algorithm for Cutting with Liver Standard Triangulation Language Format Using Z-Buffers in Graphics Processing Unit

In this paper, we propose a graphics processing unit-based efficient surgical algorithm for operating on a human liver by a cavitron ultrasonic surgical aspirator (CUSA) scalpel in a virtual environment built with polyhedral objects in Standard Triangulation Language format. First, using z-buffers of a human liver and a CUSA scalpel in a general-purpose graphics processing unit, we rapidly detect their intersections of rectangular parallelepipeds. Then, depending on the plastic, elastic, and viscous material properties of the operated portion of the liver, we determine the rectangular parallelepiped lengths. From that point, based on the correspondence between a vertex and pixel via the XY-image of the z-buffer, the corresponding vertices of the liver polyhedron are moved along the Z-axis of the z-buffer according to its extended or contracted length of rectangular parallelepipeds. By this function, the liver polyhedron can be efficiently and precisely deformed or cut by the CUSA polyhedron.

[1]  Yen-Wei Chen,et al.  Segmentation of Liver in Low-Contrast Images Using K-Means Clustering and Geodesic Active Contour Algorithms , 2013, IEICE Trans. Inf. Syst..

[2]  Zhengyou Zhang,et al.  Iterative point matching for registration of free-form curves and surfaces , 1994, International Journal of Computer Vision.

[3]  Sean Quinlan,et al.  Efficient distance computation between non-convex objects , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[4]  Ming C. Lin,et al.  A fast algorithm for incremental distance calculation , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[5]  William E. Lorensen,et al.  Marching cubes: A high resolution 3D surface construction algorithm , 1987, SIGGRAPH.

[6]  Gino van den Bergen.  Efficient Collision Detection of Complex Deformable Models using AABB Trees , 1997, J. Graphics, GPU, & Game Tools.

[7]  Dinesh Manocha,et al.  OBBTree: a hierarchical structure for rapid interference detection , 1996, SIGGRAPH.

[8]  S. Sathiya Keerthi,et al.  A fast procedure for computing the distance between complex objects in three-dimensional space , 1988, IEEE J. Robotics Autom..

[9]  Christian Laugier,et al.  An approach to LEM modeling: construction, collision detection and dynamic simulation , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[10]  John F. Canny,et al.  Collision Detection for Moving Polyhedra , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[11]  Hiroshi Noborio,et al.  Fast interference check method using octree representation , 1988, Adv. Robotics.