a virtual reality and force feedback based endoscopic surgery simulator

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1、VIRGY:AVIRTUALREALITYANDFORCEFEEDBACKBASEDENDOSCOPICSURGERYSIMULATORDr.CharlesBaur(Labmanager)(baur@epfl.ch)DidierGuzzoni(Researchassistant)(guzzoni@epfl.ch)OlivierGeorg(Researchassistant)(ogeorg@epfl.ch)VRAIGroupIMT/DMTEPFL(SwissFederalInstituteofTechnolo

2、gy)1015LausanneSwitzerlandAbstractThispaperdescribestheVIRGYprojectattheVRAIGroup(VirtualRealityandActiveInterface),SwissFederalInstituteofTechnology(Lausanne,Switzerland).Since1994,wehavebeeninvestigatingavarietyofvirtual-realitybasedmethodsforsimulatingl

3、aparoscopicsurgeryprocedures.Ourgoalistodevelopanendoscopicsurgicaltrainingtoolwhichrealisticallysimulatestheinteractionsbetweenoneormoresurgicalinstrumentsandgastrointestinalorgans.Tosupportreal-timeinteractionandmanipulationbetweeninstrumentsandorgans,we

4、havedevelopedseveralnovelgraphicsimulationtechniques.Inparticular,weareusinglivevideotexturingtoachievedynamiceffectssuchasbleedingorvaporizationoffattytissues.Specialtexturemanipulationsallowsustogeneratepulsingobjectswhileminimizingprocessorload.Addition

5、ally,wehavecreatedanewsurfacedeformationalgorithmwhichenablesreal-timedeformationsunderexternalconstraints.Lastly,wehavedevelopedanew3Dobjectdefinitionwhichallowsustoperformoperationssuchastotalorpartialobjectcuttings,aswellastoselectivelyrenderobjectswith

6、differentlevelsofdetail.Toproviderealisticphysicalsimulationoftheforcesandtorquesonsurgicalinstrumentsencounteredduringanoperation,wehavealsodesignedanewhapticdevicededicatedtoendososcopicsurgeryconstraints.Weareusingspecialinterpolationandextrapolationtec

7、hniquestointegrateour25Hzvisualsimulationwiththe300Hzfeedbackrequiredforrealistictactileinteraction.ThefullyVIRGYsimulatorhasbeentestedbysurgeonsandthequalityofbothourvisualandhapticsimulationhasbeenjudgedsufficientfortrainingbasicsurgerygestures.1.Introdu

8、ctionTheprojectaimsatcreatingatrainingsystemforendoscopicsurgery.Thesystemismadeoutoftwocomplementaryaxes.Thefirstoneconsistindevelopingavirtualrepresentationofgivenorgans(thefocusisputonintestines)andindesig