Patient Specific Virtual and Physical Simulation Platform for Surgical Robot Movability Evaluation in Single-Access Robot-Assisted Minimally-Invasive Cardiothoracic Surgery

Giuseppe Turini; Sara Condino; Sara Sinceri; Izadyar Tamadon; Simona Celi; Claudio Quaglia; Michele Murzi; Giorgio Soldani; Arianna Menciassi; Vincenzo Ferrari; Mauro Ferrari

Patient Specific Virtual and Physical Simulation Platform for Surgical Robot Movability Evaluation in Single-Access Robot-Assisted Minimally-Invasive Cardiothoracic Surgery

Giuseppe Turini, Sara Condino, Sara Sinceri, Izadyar Tamadon, Simona Celi, Claudio Quaglia, Michele Murzi, Giorgio Soldani, Arianna Menciassi, Vincenzo Ferrari, Mauro Ferrari

Kettering University

Research output: Contribution to journal › Article › peer-review

Abstract

Recently, minimally invasive cardiothoracic surgery (MICS) has grown in popularity thanks to its advantages over conventional surgery and advancements in surgical robotics. This paper presents a patient-specific virtual surgical simulator for the movability evaluation of single-port MICS robots. This simulator can be used for both the pre-operative planning to rehearse the case before the surgery, and to test the robot in the early stage of development before physical prototypes are built. A physical simulator is also proposed to test the robot prototype in a tangible environment. Synthetic replicas of the patient organs are able to replicate the mechanical behaviors of biological tissues, allowing the simulation of the physical interactions robot-anatomy. The preliminary tests of the virtual simulator showed good performance for both the visual and physics processes. After reviewing the physical simulator, a surgeon provided a positive evaluation of the organ replicas in terms of geometry and mechanical behaviors.

Original language	American English
Journal	Augmented Reality, Virtual Reality, and Computer Graphics Part 2
State	Published - Jun 8 2017

Keywords

MICS
Virtual Surgical Simulator
Robot
Computer Assisted Surgery
Minimally Invasive Surgery

Disciplines

Computer Sciences

Access to Document

https://link.springer.com/chapter/10.1007/978-3-319-60928-7_18

Cite this

Turini, G., Condino, S., Sinceri, S., Tamadon, I., Celi, S., Quaglia, C., Murzi, M., Soldani, G., Menciassi, A., Ferrari, V., & Ferrari, M. (2017). Patient Specific Virtual and Physical Simulation Platform for Surgical Robot Movability Evaluation in Single-Access Robot-Assisted Minimally-Invasive Cardiothoracic Surgery. Augmented Reality, Virtual Reality, and Computer Graphics Part 2. https://link.springer.com/chapter/10.1007/978-3-319-60928-7_18

Patient Specific Virtual and Physical Simulation Platform for Surgical Robot Movability Evaluation in Single-Access Robot-Assisted Minimally-Invasive Cardiothoracic Surgery. / Turini, Giuseppe; Condino, Sara; Sinceri, Sara et al.
In: Augmented Reality, Virtual Reality, and Computer Graphics Part 2, 08.06.2017.

Research output: Contribution to journal › Article › peer-review

Turini, G, Condino, S, Sinceri, S, Tamadon, I, Celi, S, Quaglia, C, Murzi, M, Soldani, G, Menciassi, A, Ferrari, V & Ferrari, M 2017, 'Patient Specific Virtual and Physical Simulation Platform for Surgical Robot Movability Evaluation in Single-Access Robot-Assisted Minimally-Invasive Cardiothoracic Surgery', Augmented Reality, Virtual Reality, and Computer Graphics Part 2. <https://link.springer.com/chapter/10.1007/978-3-319-60928-7_18>

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abstract = " Recently, minimally invasive cardiothoracic surgery (MICS) has grown in popularity thanks to its advantages over conventional surgery and advancements in surgical robotics. This paper presents a patient-specific virtual surgical simulator for the movability evaluation of single-port MICS robots. This simulator can be used for both the pre-operative planning to rehearse the case before the surgery, and to test the robot in the early stage of development before physical prototypes are built. A physical simulator is also proposed to test the robot prototype in a tangible environment. Synthetic replicas of the patient organs are able to replicate the mechanical behaviors of biological tissues, allowing the simulation of the physical interactions robot-anatomy. The preliminary tests of the virtual simulator showed good performance for both the visual and physics processes. After reviewing the physical simulator, a surgeon provided a positive evaluation of the organ replicas in terms of geometry and mechanical behaviors. ",

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AU - Tamadon, Izadyar

AU - Celi, Simona

AU - Quaglia, Claudio

AU - Murzi, Michele

AU - Soldani, Giorgio

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AU - Ferrari, Vincenzo

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KW - MICS

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KW - Minimally Invasive Surgery

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Patient Specific Virtual and Physical Simulation Platform for Surgical Robot Movability Evaluation in Single-Access Robot-Assisted Minimally-Invasive Cardiothoracic Surgery

Abstract

Keywords

Disciplines

Access to Document

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