Interactive Peritoneum in a Haptic Surgery Illustration Environment

摘要

We describe a fully interactive, low-overhead and robust peritoneum representation allowing for probing and cutting. The peritoneum implementation has been tested within a surgical illustration environment. Modeling peritoneum in a 3D surgical simulation, i.e. a membrane that stays close to yet strictly to one side of non-statically positioned organs, vessels and possibly deforming fatty tissue, is non-trivial. Haptic feedback that allows probing organs, vessels and haptic feedback and cutting and tearing the peritonium (in preparation for clamping and/or ligation) adds another level of complication for real-time deployment.