Development of a Tool-Centered Collision Modelfor Volumetric Resection in ENT Surgery Simulation

摘要

Surgical simulation trains medical residents and surgeons in specific interventions and therefore improves the surgical outcome and reduces operation time. This work focuses on the development of a surgical simulator emulating a tumor resection, whereby 3D tissue mesh resection is implemented. Collision detection algorithms in surgical simulation are not developed to model a changing form of the operating instrument during the operation, which is why tool-centered collision detection is created. One important objective in simulation is clinical realism, and the recruitment of the IOMaster7D, capable of seven degrees of freedom for the dominant hand and six degrees of freedom for the other, allows to synthesize the effect of the Blakesley forceps and the endoscope respectively, as well as provide force feedback.