Physics-based stereoscopic suturing simulation with force feedback and continuous multipoint interactions for training on the da Vinci ® surgical system

摘要

In this paper we present a 3d stereoscopic, bimanual surgical suturing system with a realistic thread model, and physics based force feedback training surgical residents at Albany medical college for the use da Vinci® surgical system. A novel algorithm is developed to calculate tissue deformations at multiple points due to both the frictional pull resulting from the passage of the thread through the tissue, and the additional forces applied by both hands of the user on the thread or tissues, enabling, for the first time, continuous sutures and knot tying with force feedback. Two Phantom Premium 1.0 (Sensable Technologies) are used for force feedback. Planar system's dual monitor based stereo vision system is used for simultaneous rendering of left and right eye views facilitating 3D rendering.