A Novel Haptic Interactive Approach to Simulation of Surgery Cutting Based on Mesh and Meshless Models

In the present work, the majority of implemented virtual surgery simulation systems have been based on either a mesh or meshless strategy with regard to soft tissue modelling. To take full advantage of the mesh and meshless models, a novel coupled soft tissue cutting model is proposed. Specifically, the reconstructed virtual soft tissue consists of two essential components. One is associated with surface mesh that is convenient for surface rendering and the other with internal meshless point elements that is used to calculate the force feedback during cutting. To combine two components in a seamless way, virtual points are introduced. During the simulation of cutting, the Bezier curve is used to characterize smooth and vivid incision on the surface mesh. At the same time, the deformation of internal soft tissue caused by cutting operation can be treated as displacements of the internal point elements. Furthermore, we discussed and proved the stability and convergence of the proposed approach theoretically. The real biomechanical tests verified the validity of the introduced model. And the simulation experiments show that the proposed approach offers high computational efficiency and good visual effect, enabling cutting of soft tissue with high stability.

Integration of New Features for Telerobotic Surgery into The Mirosurge System

Minimally invasive robotic surgery has gained wide acceptance recently. Computer-aided features to assist the surgeon during these interventions may help to develop safer, faster, and more accurate procedures. Especially physiological motion compensation of the beating heart and online soft tissue modelling are promising features that were developed recently. This paper presents the integration of these new features into the minimally invasive robotic surgery platform MiroSurge. A central aim of this research platform is to enable evaluation and comparison of new functionalities for minimally invasive robotic surgery. The system structure of MiroSurge is presented as well as the interfaces for the new functionalities. Some details about the modules for motion tracking and for soft tissue simulation are given. Results are shown with an experimental setup that includes a heart motion simulator and dedicated silicone organ models. Both features are integrated seamlessly and work reliably in the chosen setup. The MiroSurge platform thus shows the potential to provide valuable results in evaluating new functionalities for minimally invasive robotic surgery.