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Haptic Milling Simulation in Six Degrees-of-Freedom: With Application to Surgery in Stiff Tissue
KTH, School of Technology and Health (STH), Neuronic Engineering. (Mechatronics LAB KTH)
2012 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

The research presented in this thesis describes a substantial part of the design of a prototypical surgical training simulator. The results are intended to be applied in future simulators used to educate and train surgeons for bone milling operations. In earlier work we have developed a haptic bone milling surgery simulator prototype based on three degrees-of-freedom force feedback. The contributions presented here constitute an extension to that work by further developing the haptic algorithms to enable six degrees-of-freedom (6-DOF) haptic feedback. Such feedback is crucial for a realistic haptic experience when interacting in a more complex virtual environment, particularly in milling applications.The main contributions of this thesis are:The developed 6-DOF haptic algorithm is based on the work done by Barbic and James, but differs in that the algorithm is modified and optimized for milling applications. The new algorithm handles the challenging problem of real-time rendering of volume data changes due to material removal, while fulfilling the requirements on stability and smoothness of the kind of haptic applications that we approach. The material removal algorithm and the graphic rendering presented here are based on the earlier research. The new 6-DOF haptic milling algorithm is characterized by voxel-based collision detection, penalty-based and constraint-based haptic feedback, and by using a virtual coupling for stable interaction.Milling a hole in an object in the virtual environment or dragging the virtual tool along the surface of a virtual object shall generate realistic contact force and torque in the correct directions. These are important requirements for a bone milling simulator to be used as a future training tool in the curriculum of surgeons. The goal of this thesis is to present and state the quality of a newly developed 6-DOF haptic milling algorithm. The quality of the algorithm is confirmed through a verification test and a face validity study performed in collaboration with the Division of Orthopedics at the Karolinska University Hospital. In a simulator prototype, the haptic algorithm is implemented together with a new 6-DOF haptic device based on parallel kinematics. This device is developed with workspace, transparency and stiffness characteristics specifically adapted to the particular procedure. This thesis is focuses on the 6-DOF haptic algorithm.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2012. , x, 85 p.
Series
Trita-STH : report, ISSN 1653-3836 ; 2012:02
Keyword [en]
Surgical simulation, Virtual reality, Haptic feedback, Surgical training, Medical simulators, 3D visualization, Six degrees-of-freedom, Bone milling
National Category
Interaction Technologies
Identifiers
URN: urn:nbn:se:kth:diva-90547ISBN: 978-91-7501-276-6 (print)OAI: oai:DiVA.org:kth-90547DiVA: diva2:505822
Public defence
2012-03-23, B242, Brinellvägen 83, KTH, Stockholm, 14:00 (English)
Opponent
Supervisors
Note
QC 20120226Available from: 2012-03-01 Created: 2012-02-26 Last updated: 2012-03-01Bibliographically approved
List of papers
1. A Haptic and Virtual Reality Skull Bone Surgery Simulator
Open this publication in new window or tab >>A Haptic and Virtual Reality Skull Bone Surgery Simulator
2005 (English)Conference paper, Published paper (Refereed)
Abstract [en]

The work presented in this paper gives an introduction to the development of a simulator system based on a virtual reality representation of the human skull, from which both haptic and visual feedback is generated to simulate and animate the milling process in skull bone surgery. The system will be used to educate and train surgeons to do complicated skull bone operations, such as removal of cancer tumors. The skull bone data is taken from a CT-scan and visualized using a modified Marching cubes algorithm. Different haptic rendering algorithms of the bone milling process are discussed for implementation. An energy-based approach is used for modeling of material removed during the milling process. The topic is still young and unexplored; hence this paper discusses the different parts a bone milling VRsystem consists of and gives an insight into problems occurring in a VR bone milling process and presents solutions for some of these problems.

National Category
Interaction Technologies
Identifiers
urn:nbn:se:kth:diva-87068 (URN)
Conference
World Haptics 2005 conference in Pisa, Italy, March 2005.
Note
QC 20120301Available from: 2012-02-14 Created: 2012-02-14 Last updated: 2012-03-01Bibliographically approved
2.
The record could not be found. The reason may be that the record is no longer available or you may have typed in a wrong id in the address field.
3. A Face Validated Six Degrees-of-Freedom Haptic Bone Milling Algorithm
Open this publication in new window or tab >>A Face Validated Six Degrees-of-Freedom Haptic Bone Milling Algorithm
(English)In: IEEE Transactions on Haptics, ISSN 1939-1412, E-ISSN 2329-4051Article in journal (Other academic) Submitted
National Category
Interaction Technologies
Identifiers
urn:nbn:se:kth:diva-90545 (URN)
Note
QS 2012 QS 20120326Available from: 2012-02-26 Created: 2012-02-26 Last updated: 2017-12-07Bibliographically approved
4. Face Validity Tests of a Haptic Bone Milling Surgery Simulator Prototype
Open this publication in new window or tab >>Face Validity Tests of a Haptic Bone Milling Surgery Simulator Prototype
2012 (English)In: Journal of Medical Devices, ISSN 1932-619XArticle in journal (Other academic) Submitted
Place, publisher, year, edition, pages
American Society of Mechanical Engineers, 2012
National Category
Interaction Technologies
Identifiers
urn:nbn:se:kth:diva-90546 (URN)
Note

QS 2012 QS 20120326

Available from: 2012-02-26 Created: 2012-02-26 Last updated: 2016-12-06Bibliographically approved

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